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An Adaptive Variable Structure Control Scheme for Underactuated Mechanical Manipulators
Joint Authors
Yang, Jung Hua
Yang, Kuang Shine
Source
Mathematical Problems in Engineering
Issue
Vol. 2012, Issue 2012 (31 Dec. 2012), pp.1-23, 23 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2012-12-11
Country of Publication
Egypt
No. of Pages
23
Main Subjects
Abstract EN
Mechanical arms have been widely used in the industry for many decades.
They have played a dominant role in factory automation.
However the control performance, or even system stability, would be deteriorated if some of the actuators fail during the operations.
Hence, in this study, an adaptive variable structure scheme is presented to solve this problem.
It is shown that, by applying the control mechanism proposed in this paper, the motion of robot systems can maintain asymptotical stability in case of actuators failure.
The control algorithms as well as the convergence analysis are theoretically proved based on Lyapunov theory.
In addition, to demonstrate the validity of the controller, a number of simulations as well as real-time experiments are also performed for Pendubot robot and Furuta robot systems.
The results confirm the applicability of the proposed controller.
American Psychological Association (APA)
Yang, Jung Hua& Yang, Kuang Shine. 2012. An Adaptive Variable Structure Control Scheme for Underactuated Mechanical Manipulators. Mathematical Problems in Engineering،Vol. 2012, no. 2012, pp.1-23.
https://search.emarefa.net/detail/BIM-1001458
Modern Language Association (MLA)
Yang, Jung Hua& Yang, Kuang Shine. An Adaptive Variable Structure Control Scheme for Underactuated Mechanical Manipulators. Mathematical Problems in Engineering No. 2012 (2012), pp.1-23.
https://search.emarefa.net/detail/BIM-1001458
American Medical Association (AMA)
Yang, Jung Hua& Yang, Kuang Shine. An Adaptive Variable Structure Control Scheme for Underactuated Mechanical Manipulators. Mathematical Problems in Engineering. 2012. Vol. 2012, no. 2012, pp.1-23.
https://search.emarefa.net/detail/BIM-1001458
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1001458