Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Control of Robot Manipulators Using PD-Sliding Mode hybrid Controller

PD-슬라이딩 모드 복합 제어기를 이용한 로봇 매니퓰레이터의 제어

  • Lee, Kyu-Joon (Agency for Defense Development) ;
  • Kyung, Tai-Hyun (Dept.of Intelligent Mechanical Engineering, Graduate School of Busan National University) ;
  • Kim, Jong-Shik (Mechanical Technology Research Center, Dept.of Mechanical Engineering, Busan National University)
  • 이규준 (국방과학연구소) ;
  • 경태현 (부산대학교 지능기계공학과 대학원) ;
  • 김종식 (부산대학교 기계공학부, 기계기술연구소)
  • Published : 2002.02.01
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Abstract

A new chattering free PD-sliding mode hybrid control scheme is proposed for robot manipulators. This hybrid controller is composed of a PD controller and a semi-continuous sliding mode controller. It has a good robust performance in reaching mode which does not possess invariance property of sliding mode, and has chattering free characteristics in sliding mode. Thus, the PD-sliding mode hybrid controller has a good robust performance in the whole region. It is shown that the proposed control has a good transient response and trajectory tracking performance for a 2-link SCARA robot manipulator.

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References

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