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Decentralized controllers design for nonlinear uncertain systems with application on robotic systems

Ishak, Haszuraidah and Shah Osman , Johari Halim (2008) Decentralized controllers design for nonlinear uncertain systems with application on robotic systems. In: 2008 3rd IEEE Conference on Industrial Electronics and Applications, ICIEA 2008. IEEE, New York, pp. 471-476. ISBN 978-142441718-6

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Official URL: http://dx.doi.org/10.1109/ICIEA.2008.4582560

Abstract

This paper presents investigation into the development of decentralized sliding mode control with application to trajectory tracking for hydraulically driven revolute robot manipulators. The control of hydraulically actuated robot manipulator is very challenging due to the highly nonlinearities in its dynamics, uncertainties parameters, and variations on payload. To overcome these problems, an integrated mathematical model of an N degree-of-freedom (dof) hydraulic robot manipulator is treated as a large-scale uncertain system models with bounded uncertainties where the bounds are known. This is then decomposed into interconnected uncertain subsystems in order to apply the decentralized tracking control strategy. Sliding Mode Control (SMC) and Proportional-Integral Sliding Mode Control strategies will be utilized to overcome the inherent nonlinear dynamics under the decentralized frameworks. These approaches were adopted to ensure the stability of the system dynamics during the sliding mode and the insensitivity to the parameter variations and disturbances. The performance and robustness of the controllers were evaluated on a 3 dof hydraulically actuated manipulator through computer simulation. The results prove that the controllers have succeeded in forcing the 3 DOF hydraulic robot manipulators to track the predefined desired trajectory at all time.

Item Type:Book Section
Additional Information:ISBN: 978-142441718-6; 2008 3rd IEEE Conference on Industrial Electronics and Applications, ICIEA 2008; Singapore; 3 June 2008 through 5 June 2008
Uncontrolled Keywords:computational methods, computer control systems, computer simulation, control nonlinearities, dynamics, elastic moduli, electronics industry, flexible manipulators, fluid mechanics, hydraulics, industrial electronics, industrial robots, manipulators, mathematical models, model structures, modular robots, robot applications, robotics, robots, robust control, robustness (control systems), sliding mode control, system stability, trajectories, uncertain systems
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:Electrical Engineering
ID Code:12524
Deposited By: Liza Porijo
Deposited On:07 Jun 2011 10:10
Last Modified:07 Jun 2011 10:17

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