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An Adaptive Variable Structure Control Scheme for Underactuated Mechanical Manipulators

机译：欠驱动机械臂的自适应变结构控制方案

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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 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.
机译：机械臂已经在该行业中广泛使用了数十年。他们在工厂自动化中发挥了主导作用。但是，如果某些执行器在运行过程中发生故障，则控制性能甚至系统的稳定性都会下降。因此，在这项研究中，提出了一种自适应可变结构方案来解决这个问题。结果表明，通过应用本文提出的控制机制，在执行器故障的情况下，机器人系统的运动可以保持渐近稳定。基于Lyapunov理论从理论上证明了控制算法和收敛性分析。此外，为了证明控制器的有效性，还对Pendubot机器人和Furuta机器人系统进行了许多仿真和实时实验。结果证实了所提出的控制器的适用性。

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  • 来源
    《Mathematical Problems in Engineering》 |2012年第11期|270649.1-270649.23|共23页
  • 作者

    Jung Hua Yang; Kuang Shine Yang;

  • 作者单位

    Department of Vehicle Engineering, National Pingtung University of Science and Technology, Pingtung 91201, Taiwan;

    Department of Mechanical and Electro-Mechanical Engineering, National Sun Yat-sen University, Kaohsiung 80424, Taiwan;

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