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SIIA Público
SISTEMA INTEGRAL DE INFORMACIÓN ACADÉMICA - PÚBLICO
Título del libro: 2024 European Control Conference, Ecc 2024 Título del capítulo: A robust algorithm for the tracking control of robot manipulators
Autores UNAM: MARCO ANTONIO ARTEAGA PEREZ;
Autores externos: Idioma: Año de publicación: 2024Palabras clave:
Finite time; robot manipulator; robustness; position tracking
Resumen:
For many robot manipulators tasks, the main objective consists in following accurately position and velocity time varying trajectories. Sliding Mode Control (SMC) techniques allow exact position tracking despite a poor knowledge of the robot model and in the presence of external perturbations. In the last years fixed time stability has become an area of great interest, where one of the main problems to be solved is the possible appearance of singularities. The current contribution introduces a singularity free fixed time SMC scheme for position and velocity tracking of robot manipulators in the presence of external perturbations. The control scheme avoids singularities by using linear sliding mode (LSM) surfaces, which are yielded to zero in a predefined fixed time. Although the employment of LSM allows to avoid singularities, the tracking errors tend to zero only asymptotically once the sliding surface is reached. Simulation results show that this does not represent a big drawback since tracking errors tend to zero even in the presence of external perturbations as foreseen in theory.
