A Simple Learning Variable Structure Control Law for Rigid Robot Manipulators

  • Choi, Han-Ho (Dept. of Elec. Edu., Andong National Univ.) ;
  • Kuc, Tae-Yong (School of Electrical and Computer Eng., Sung Kyun Kwan Univ.) ;
  • Lee, Dong-Hun (School of Electrical and Computer Eng., Sung Kyun Kwan Univ.)
  • Published : 2003.10.22

Abstract

In this paper, we consider the problem of designing a simple learning variable structure system for repeatable tracking control of robot manipulators. We combine a variable structure control law as the robust part for stabilization and a feedforward learning law as the intelligent part for nonlinearity compensation. We show that the tracking error asymptotically converges to zero. Finally, we give computer simulation results in order to show the effectiveness of our method.