Journal of Korea Society of Industrial Information Systems (한국산업정보학회논문지)

Korea Society of Industrial Information Systems (한국산업정보학회)
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Discrete-Time Sliding Mode Control for Robot Manipulators

  • 박재삼 (인천대학교 전자공학과)
  • Received : 2011.11.14
  • Accepted : 2011.12.15
  • Published : 2011.12.30
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Abstract

In the real-field of control cases for robot manipulators, there always exists a modeling error, which results the model has the uncertainties in its parameters and/or structure. In many modem applications, digital computers are extensively used to implement control algorithms to control such systems. The discretization of the nonlinear dynamic equations of such systems results in a complicated discrete dynamic equations. Therefore, it will be difficult to design a discrete-time controller to give good tracking performances in the presence of certain uncertainties. In this paper, a discrete-time sliding mode control algorithm for nonlinear and time varying robot manipulators with uncertainties is presented. Sufficient conditions for guaranteeing the convergence of the discrete-time SMC system are derived. As example simulations, the proposed SMC algorithm is applied to a two-link robotic manipulator with unknown dynamics. The results of the simulation indicate that the developed control scheme is effective in manipulators and electro-mechanical system control.

Keywords

Acknowledgement

Supported by : 인천대학교

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