An Adaptive Variable Structure Control Scheme for Underactuated Mechanical Manipulators

in Sciences Citation Index(SCI), 科學引文索引資料庫(SCI)
標題An Adaptive Variable Structure Control Scheme for Underactuated Mechanical Manipulators
出版類型SCI(Sciences Citation Index)
出版年度2012
AuthorsYang, 楊榮華
出版日期2012 / 12
其他編號0000
中文摘要

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 aswell 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

期刊名稱Mathematical problems in Engineering
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