Adaptive Variable Structure Control for a Class of Underactuated Mechanical Systems with an Application to a Two-link Robot System

in International Symposium (oral presentation paper), 國際研討會(全文口頭發表)
標題Adaptive Variable Structure Control for a Class of Underactuated Mechanical Systems with an Application to a Two-link Robot System
出版類型國際研討會(全文口頭發表)
出版年度2007
AuthorsYang, 楊榮華
會議名稱中國機械工程學會第二十四屆全國學術研討會
出版日期Nov 23 2007 12:0
會議地點中壢 中原大學
其他編號0000
中文摘要

Robot arms have been widely used in the industry
for many decades. They have played a very important
role in factory automation. However the control
performance, on even system stability, would be
deteriorated if some of the actuators fail during
operation. Hence, in this study, an adaptive variable
structure scheme is presented to solve the problem with
actuator failure. It is shown that, under the control
action proposed in this paper, the motion of robot
systems can maintain asymptotically stable although
some of the actuators fail. Theoretical proof for the
closed-loop dynamic system is given via Lyapunov
theory as well as Barbalat’s lemma. To demonstrate the
validity of the controller, experimental implementation
is also performed.

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