An Adaptive Variable Structure Control Scheme for Underactuated Mechanical Manipulators

Jung Hua Yang and Kuang Shine Yang

Mathematical Problems in Engineering, 2012, vol. 2012, 1-23

Abstract:

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.

Date: 2012
References: Add references at CitEc
Citations:

Downloads: (external link)
http://downloads.hindawi.com/journals/MPE/2012/270649.pdf (application/pdf)
http://downloads.hindawi.com/journals/MPE/2012/270649.xml (text/xml)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:270649

DOI: 10.1155/2012/270649

Access Statistics for this article

More articles in Mathematical Problems in Engineering from Hindawi
Bibliographic data for series maintained by Mohamed Abdelhakeem ().