Variable Step-Size Adaptive Sliding Mode Controller with Exponential Law for Robot Arm Tracking

Zhi Xiang Yang, Bing Gang Jhong, Mei Yung Chen

研究成果: 書貢獻/報告類型會議貢獻

2 引文 斯高帕斯(Scopus)

摘要

In this paper, we design an adaptive sliding mode controller applied on trajectory tracking of robot arms. Consider the uncertainties and external disturbances of a robot arm, we choose sliding mode control (SMC) to be the major controller and propose an adaptive control to tune the switch gain of SMC that would be able to handle unknown disturbances and uncertainties of the system. The adaptive control makes system transient response slow, so we include an exponential law (EL) to make system transient response faster. We not only combine EL with SMC to reduce chattering, but also combine EL with adaptive control to be the variable step-size adaptive control (VSSAC) which step size is tuned by error. Consequently, we prove the stability of system and show excellent performance of this controller by the experiment results.

原文英語
主出版物標題Proceedings - 2015 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2015
發行者Institute of Electrical and Electronics Engineers Inc.
頁面151-154
頁數4
ISBN(電子)9781479986965
DOIs
出版狀態已發佈 - 2016 一月 12
事件IEEE International Conference on Systems, Man, and Cybernetics, SMC 2015 - Kowloon Tong, 香港
持續時間: 2015 十月 92015 十月 12

出版系列

名字Proceedings - 2015 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2015

其他

其他IEEE International Conference on Systems, Man, and Cybernetics, SMC 2015
國家香港
城市Kowloon Tong
期間2015/10/092015/10/12

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Networks and Communications
  • Energy Engineering and Power Technology
  • Information Systems and Management
  • Control and Systems Engineering

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