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A HYBRID FINITE TIME VARIABLE STRUCTURE CONTROLLER FOR RIGID ROBOTIC MANIPULATORS
Yuqiang Wu*, Xinghuo Yu**, Zhihong Man***
* Institute of Automation, Qufu Normal University, Qufu, 273165, China, Email: wyq@qfnu.edu.cn
** Faculty of Informatics and Communication, Central Queensland University, Rockhampton, QLD
4702, Australia Email:x.yu@cqu.edu.au
*** School of Computer Engineering, Nanyang Technological University, Singapore.
In this paper, a global variable structure relay control scheme with finite time convergence is proposed for multi-link rigid robotic manipulator systems with uncertain dynamics. For general finite time variable structure controllers, the control signal may tend to infinity when the initial states of the system are in some specified areas, causing the singularity problem. This paper gives a design approach for finite time tracking control by using a relay control method so that the boundedness of the control signal is guaranteed and the singularity phenomenon is avoided.
Keywords: Multi-link rigid robotic manipulator, Finite time convergence, Variable structure control
Session slot T-Mo-A14: Robot Controllers/Area code 1d : Robotics
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