A variable structure observer for the control of robot manipulators

• Autorzy: Abdelkader Abdessameud , Mohamed Faycal Khelfi
• Języki publikacji: EN

Abstrakty

EN

This paper deals with the application of a variable structure observer developed for a class of nonlinear systems to solve the trajectory tracking problem for rigid robot manipulators. The analyzed approach to observer design proposes a simple design methodology for systems having completely observable linear parts and bounded nonlinearities andor uncertainties. This observer is basically the conventional Luenberger observer with an additional switching term that is used to guarantee robustness against modeling errors and system uncertainties. To solve the tracking problem, we use a control law developed for robot manipulators in the full information case. The closed loop system is shown to be globally asymptotically stable based on Lyapunov arguments. Simulation results on a 3-DOF robot manipulator show the asymptotic convergence of the vectors of observation and tracking errors.

Słowa kluczowe

EN

exponential stability; switching-type observers; tracking control; variable structure observers; rigid robot manipulators

• Wydawca: University of Zielona Gora Press
• Czasopismo: International Journal of Applied Mathematics and Computer Science
• Rocznik: 2006
• Tom: 16
• Numer: 2
• Strony: 189-196

Daty

wydano

2006

otrzymano

2005-12-08

poprawiono

2006-03-22

Twórcy

autor

Abdelkader Abdessameud

• Laboratoire d'Automatique Appliquée, Faculty of Hydrocarbons and Chemistry, University of Boumerdes, Boumerdes, Algeria

autor

Mohamed Faycal Khelfi

• Computer Science Department, Faculty of Sciences, University of Oran Es-Sénia, Oran Es-Sénia, Algeria

Bibliografia

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