Sliding mode control with perturbation estimation: application on DD robotmechanism

Citation
B. Curk et K. Jezernik, Sliding mode control with perturbation estimation: application on DD robotmechanism, ROBOTICA, 19, 2001, pp. 641-648
Citations number
15
Categorie Soggetti
AI Robotics and Automatic Control
Journal title
ROBOTICA
ISSN journal
02635747 → ACNP
Volume
19
Year of publication
2001
Part
6
Pages
641 - 648
Database
ISI
SICI code
0263-5747(200111/12)19:<641:SMCWPE>2.0.ZU;2-7
Abstract
In this work another perturbation estimation sliding mode based control alg orithm is introduced for a class of robotic systems in the presence of stru ctured and unstructured uncertainties and external disturbances. The effect s of these uncertainties are combined into a single quantity. A full order device with the actuator voltages as control inputs is assumed in control d esign. The decentralized control scheme with only a partial state feedback is applied. A modification of the switching functions with perturbation est imation is introduced. The salient features of this approach is that the pe rturbations are effectively treated by a computationally straightforward pr ocedure. The proposed controller is applied to a minimal configuration dire ct drive robot mechanism.