A new variable structure PID-controller for robot manipulators with parameter perturbations: An augmented sliding surface approach

IFAC Proceedings Volumes (IFAC-PapersOnline)

Volumn 15, Issue 1, 2002, Pages 365-370

  Jafarov, Elbrous M ^a   Istefanopulos, Yorgo ^b   Parlakçi, M N Alpaslan ^c  

^a ISTANBUL TECHNICAL UNIVERSITY   (Turkey)

^b BOGAZICI UNIVERSITY   (Turkey)

^c ISTANBUL BILGI UNIVERSITY   (Turkey)

Author keywords

Lyapunov full quadratic form; PID variable structure control; Robot control; Sliding mode

Indexed keywords

ASYMPTOTIC STABILITY; AUTOMATION; CONTROL SYSTEM SYNTHESIS; EIGENVALUES AND EIGENFUNCTIONS; ELECTRIC CONTROL EQUIPMENT; FLEXIBLE MANIPULATORS; INDUSTRIAL ROBOTS; MODULAR ROBOTS; MULTIVARIABLE SYSTEMS; NUMBER THEORY; PROPORTIONAL CONTROL SYSTEMS; ROBOT APPLICATIONS; THREE TERM CONTROL SYSTEMS;

GLOBAL ASYMPTOTIC STABILITY; LYAPUNOV FULL QUADRATIC FORM; MATRIX NORM INEQUALITIES; PARAMETER PERTURBATION; ROBOT CONTROLS; ROBOT MANIPULATOR SYSTEMS; SLIDING MODES; VARIABLE STRUCTURE PID CONTROLLER;

CONTROLLERS;

EID: 84945533005     PISSN: 14746670     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.3182/20020721-6-es-1901.00873     Document Type: Conference Paper

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