A variable structure observer for the control of robot manipulators

Abdelkader Abdessameud, Mohamed Fayçal Khelfi

Research output: Contribution to journalArticle

19 Citations (Scopus)

Abstract

This paper deals with the application of a variable structure observer developed for a class of nonlinear systems to solve the trajectory tracking problem for rigid robot manipulators. The analyzed approach to observer design proposes a simple design methodology for systems having completely observable linear parts and bounded nonlinearities and/or uncertainties. This observer is basically the conventional Luenberger observer with an additional switching term that is used to guarantee robustness against modeling errors and system uncertainties. To solve the tracking problem, we use a control law developed for robot manipulators in the full information case. The closed loop system is shown to be globally asymptotically stable based on Lyapunov arguments. Simulation results on a 3-DOF robot manipulator show the asymptotic convergence of the vectors of observation and tracking errors.

Original languageEnglish (US)
Pages (from-to)189-196
Number of pages8
JournalInternational Journal of Applied Mathematics and Computer Science
Volume16
Issue number2
StatePublished - Jul 3 2006

Fingerprint

Variable Structure
Robot Manipulator
Manipulators
Observer
Robots
Uncertainty
Observer Design
Asymptotic Convergence
Modeling Error
Trajectory Tracking
Globally Asymptotically Stable
Closed loop systems
Lyapunov
Closed-loop System
Design Methodology
Nonlinear systems
Nonlinear Systems
Trajectories
Nonlinearity
Robustness

All Science Journal Classification (ASJC) codes

  • Computer Science (miscellaneous)
  • Engineering (miscellaneous)
  • Applied Mathematics

Cite this

Abdessameud, Abdelkader ; Khelfi, Mohamed Fayçal. / A variable structure observer for the control of robot manipulators. In: International Journal of Applied Mathematics and Computer Science. 2006 ; Vol. 16, No. 2. pp. 189-196.
@article{99f09387a230452ca9cd2324d1451ff4,
title = "A variable structure observer for the control of robot manipulators",
abstract = "This paper deals with the application of a variable structure observer developed for a class of nonlinear systems to solve the trajectory tracking problem for rigid robot manipulators. The analyzed approach to observer design proposes a simple design methodology for systems having completely observable linear parts and bounded nonlinearities and/or uncertainties. This observer is basically the conventional Luenberger observer with an additional switching term that is used to guarantee robustness against modeling errors and system uncertainties. To solve the tracking problem, we use a control law developed for robot manipulators in the full information case. The closed loop system is shown to be globally asymptotically stable based on Lyapunov arguments. Simulation results on a 3-DOF robot manipulator show the asymptotic convergence of the vectors of observation and tracking errors.",
author = "Abdelkader Abdessameud and Khelfi, {Mohamed Fay{\cc}al}",
year = "2006",
month = "7",
day = "3",
language = "English (US)",
volume = "16",
pages = "189--196",
journal = "International Journal of Applied Mathematics and Computer Science",
issn = "1641-876X",
publisher = "Walter de Gruyter GmbH",
number = "2",

}

A variable structure observer for the control of robot manipulators. / Abdessameud, Abdelkader; Khelfi, Mohamed Fayçal.

In: International Journal of Applied Mathematics and Computer Science, Vol. 16, No. 2, 03.07.2006, p. 189-196.

Research output: Contribution to journalArticle

TY - JOUR

T1 - A variable structure observer for the control of robot manipulators

AU - Abdessameud, Abdelkader

AU - Khelfi, Mohamed Fayçal

PY - 2006/7/3

Y1 - 2006/7/3

N2 - This paper deals with the application of a variable structure observer developed for a class of nonlinear systems to solve the trajectory tracking problem for rigid robot manipulators. The analyzed approach to observer design proposes a simple design methodology for systems having completely observable linear parts and bounded nonlinearities and/or uncertainties. This observer is basically the conventional Luenberger observer with an additional switching term that is used to guarantee robustness against modeling errors and system uncertainties. To solve the tracking problem, we use a control law developed for robot manipulators in the full information case. The closed loop system is shown to be globally asymptotically stable based on Lyapunov arguments. Simulation results on a 3-DOF robot manipulator show the asymptotic convergence of the vectors of observation and tracking errors.

AB - This paper deals with the application of a variable structure observer developed for a class of nonlinear systems to solve the trajectory tracking problem for rigid robot manipulators. The analyzed approach to observer design proposes a simple design methodology for systems having completely observable linear parts and bounded nonlinearities and/or uncertainties. This observer is basically the conventional Luenberger observer with an additional switching term that is used to guarantee robustness against modeling errors and system uncertainties. To solve the tracking problem, we use a control law developed for robot manipulators in the full information case. The closed loop system is shown to be globally asymptotically stable based on Lyapunov arguments. Simulation results on a 3-DOF robot manipulator show the asymptotic convergence of the vectors of observation and tracking errors.

UR - http://www.scopus.com/inward/record.url?scp=33745459222&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=33745459222&partnerID=8YFLogxK

M3 - Article

AN - SCOPUS:33745459222

VL - 16

SP - 189

EP - 196

JO - International Journal of Applied Mathematics and Computer Science

JF - International Journal of Applied Mathematics and Computer Science

SN - 1641-876X

IS - 2

ER -