Detail Robot Manipulator Control Using Sliding Mode With Time-Varying Sliding Surface   Oleh:  Choi, Jeong Ju ; Kyung, Tai Hyun ; Kim, Jong Shik Jenis: Article from Article Dalam koleksi: Final Program and Book of Abstracts: The 4th Asian Control Conference, September 25-27, 2002 (Sep. 2002), page 1449-1454. Topik: SCARA; Robot Mnaipulator; Sliding Mode Fulltext: AC021369.PDF (265.75KB) Isi artikel A sliding mode control is derived from the reaching law method and the Lyapunov stability theorem. Its control input is composed of a continuous proportional term and a discontinuous switching term. By the combination of these terms, the magnitude of the switching term can be reduced. This results in chattering avoidance and tracking performance improvement. However, when the initial state is located far away from the sliding surface, the response is poor and a large amount of control input is needed in the reaching mode. In this paper, to overcome these problems in the reaching mode, a time-varying sliding surface is used. By using the time-varying sliding surface, the state of the system remains on the sliding surface at all times. This results in improvement of the transient response and reduction of control input. In this paper, experiments are carried out with time-varying sliding mode control for a 2- link SCARA robot manipulator, and effectiveness is verified. Opini Anda Klik untuk menuliskan opini Anda tentang koleksi ini! Kembali

Copyright © 2006, 2007 Unika Atma Jaya, all rights reserved