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Stable Robust Adaptive Control of Robotic Manipulators with Switched Constraints
Jasim, Ibrahim; Plapper, Peter
2013In Proceedings of the 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
Peer reviewed
 

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Keywords :
Constrained motion robots; robust adaptive control; sliding mode control; switched systems
Abstract :
[en] In this paper, the problem of controlling switched constrained robotic manipulators is addressed. Switched constrained robots are those robots interacting with multiple switched constraints. We start our control algorithm with suggesting a sliding mode controller that is proved to provide stable system performance. However, the bounds of the functions, on each link, caused from the constraints are assumed to be known. Then an adaptive sliding mode control strategy is suggested that relaxes the need for knowing the bounds of the constraints functions with guaranteeing global stable performance of the given switched constrained robotic system. Finally, we complement the control strategy above through deriving an improved robust adaptive control scheme that is proved to give a stable performance with reduced chattering. All of the three stages of the suggested control strategy are derived through finding a common Lyapunov function that can stabilize all of the subsystems for the overall switched system. Simulation is carried out for a two link robotic manipulator interacting with two switched constraints. From the simulation results we can see the excellent tracking performance and the high efficiency of the suggested control strategy in controlling switched constrained robotic systems.
Disciplines :
Mechanical engineering
Author, co-author :
Jasim, Ibrahim ;  University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit
Plapper, Peter ;  University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit
External co-authors :
no
Language :
English
Title :
Stable Robust Adaptive Control of Robotic Manipulators with Switched Constraints
Publication date :
August 2013
Event name :
2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
Event place :
Takamatsu, Japan
Event date :
from 04-08-2013 to 07-08-2013
Audience :
International
Main work title :
Proceedings of the 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
Publisher :
IEEE, Piscataway, United States - New Jersey
ISBN/EAN :
978-1-4673-5557-5
Peer reviewed :
Peer reviewed
FnR Project :
FNR2955286 - Self-adaptive Fuzzy Control For Robotic Peg-in-hole Assembly Process, 2011 (01/05/2012-30/04/2016) - Ibrahim Fahad Jasim Ghalyan
Name of the research project :
R-AGR-0071 - IRP13 - PROBE (20130101-20151231) - PLAPPER Peter
Funders :
FNR - Fonds National de la Recherche [LU]
Available on ORBilu :
since 03 October 2013

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