چکیده مقاله
Chattering elimination of control actuators is an important issue in robotic systems, due to the damages caused by this phenomenon Although the sliding mode controller usually results in an acceptable performance especially in the presence of modeling uncertainties and system’s nonlinearities, but it may lead to chattering phenomenon which in turn causes damages besides significant energy dissipation In this paper, in order to fulfill stability requirements, robustness properties and chattering elimination, a regulating routine is proposed to determine proper positive values for the coefficient of sliding condition The main idea of developing this new method is to keep the state of the system close to the nominal desired value near the sliding surface So the coefficient of sliding condition is tuned by a function of distance from sliding surface To this end, first a multi input sliding mode control law is applied to a given manipulator in order to control its end effector position Next, focusing on the chattering phenomenon that is of main concern in implementation of Sliding Mode Control SMC , the aforementioned new approach is proposed to alleviate ideally eliminate the chattering trend The developed control law is applied on a SCARA manipulator during a planar motion To consider practical aspects, the system dynamics is modeled in the presence of parametric uncertainties The simulation results show that the amplitude of chattering motion is significantly reduced, also energy consumption substantially decreases which reveals the merits of the developed control law
کلیدواژهها
نویسندگان
S.A.A Moosavian
Associate Professor Department of Mechanical EngineeringK N Toosi University of Technology
M.R Homaeinejad
M Sc Student
شیوه ارجاع
Moosavian, S.A.A and Homaeinejad, M.R,1384,Regulated Sliding Mode Control of Robotic Manipulators,01st Tehran International Congress on Manufacturing Engineering (TICME2005),Tehran
ارائهشده در
مجموعه مقالات اولین کنفرانس بین المللی و هفتمین کنفرانس ملی مهندسی ساخت و تولید1 فروردین 1384 · تهران