Adaptive variable structure controller of redundant robots with mobile/fixed obstacles avoidance |
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Authors: | Tarek Madani Boubaker Daachi Abdelaziz Benallegue |
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Affiliation: | 1. Laboratoire d’Ingénierie des Systèmes de Versailles (LISV), 10–12, avenue de l’Europe, 78140 Vélizy, France;2. Laboratoire Image, Signaux & Systèmes Intelligents (LISSI), 122–124, rue Paul Armangot, 92400 Vitry sur Seine, France |
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Abstract: | In this paper, a variable structure adaptive controller is proposed for redundant robot manipulators constrained by moving obstacles. The main objective of the controller is to force the model states of the robot to track those of a chosen reference model. In addition, the controller is designed directly in Cartesian space and no knowledge on the dynamic model is needed, except its structure. The parameters of the controller are adapted using adaptive laws obtained via Lyapunov stability analysis of the closed loop. The performances of the proposed controller are evaluated using a 3 DOF robot manipulator evolving in a vertical plane constrained by a mobile obstacle. The obtained results show its effectiveness compared to other tested variable structure controllers. |
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Keywords: | Adaptive control Reference model Variable structure system Redundant robots Mobile obstacle avoidance |
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