Paper Info
Title
Decentralized sliding-mode control of robotic manipulator with constraint workspace: a finite-convergent barrier Lyapunov approach
Abstract
The aim of this manuscript is to develop a robust output-based controller for a robot manipulator (RM), under the presence of state constraints. A novel methodology is proposed to solve the tracking trajectory problem between the joints position of a RM and desired reference trajectories, using a barrier sliding mode (BSM) control. The controller design guarantees the tracking trajectory and the fulfillment of the state constraints considering the presence of perturbations. In this study, it is considered that only the angular position of each RM articulation is available. A decentralized adaptive super-twisting algorithm estimates the angular velocity of the corresponding RM. A class of barrier Lyapunov function (BLF) is used to analyze the finite-time stability of the sliding surface in a closed-loop with the proposed controller. An example of a numerical evaluation considering a two-link RM illustrates the advantages obtained with the proposed methodology compared to the non-barrier control design.
Year
DOI
Venue
2019
10.1109/ICEEE.2019.8884512
2019 16th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE)
Keywords
Field
DocType
Sliding Modes,Constrained Systems,Robot Manipulator
Angular displacement,Control theory,Angular velocity,Control theory,Computer science,Workspace,Robot manipulator,Perturbation (astronomy),Trajectory,Sliding mode control
Conference
ISSN
ISBN
Citations 
2642-3774
978-1-7281-4841-0
0
PageRank 
References 
Authors
0.34
0
4
Name
Order
Citations
PageRank
David Cruz-Ortiz101.35
Isaac Chairez257.12
Vadim I. Utkin321022.27
Alexander S. Poznyak435863.68