A NEW VARIABLE STRUCTURE PD-CONTROLLER FOR ROBOT MANIPULATORS WITH PARAMETER PERTURBATIONS

摘要

In this paper a new variable structure PD controller is designed for stabilization of robot manipulator systems with parameter perturbations. The sufficient conditions for the existence of a sliding mode in the robot system is considered. The techniques of matrix norm inequalities are used to cope with robustness issues. Some effective parameter-independent conditions are developed in a concise manner for the globally asymptotic stability of the multivariable system using linear matrix inequalities (LMI) and principle of Rayleigh's min/max matrix eigenvalue inequality. The stability conditions are derived by using the Lyapunov full quadratic form. The parameter perturbations of the robot motion are evaluated by the Frobenius norm. Simulation results have shown that the control performance of the robot system is satisfactory.