Trajectory Tracking Control Design for Dual-Arm Robots Using Dynamic Surface Controller

摘要

This paper presents a dynamic surface controller (DSC) for dual arm manipulator (DAM) tracking desired trajectories. The DSC algorithm is based on backstepping technique and multiple sliding surface control principle, but with an important addition. In the design of DSC, low-pass filters are included which prevent the complexity arising due to the “explosion of terms” i.e. the number of terms in the control law rapidly gets out of hand. The proposed controller is simulated on complex kinetic dynamic model of a four degrees of freedom (DOF) dual-arm robot. Moreover, the stability of the control system is proved by using Lyapunov theory. The simulation results show the effectiveness of the controller which provide precise tracking performance of the manipulator.