Output feedback sliding mode controller with H₂performance for robot manipulator

摘要

In this paper, an output feedback sliding mode controller with H <inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</inf> performance for position control of uncertain robot manipulators without join velocity measurement based on a second-order sliding mode observer is presented. First, a second order sliding mode observer with finite time convergence is developed for velocity estimaion. Then the robot manipulator is formulated as an error dynamics and a sliding mode control with H <inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</inf> performance is developed to tackle the unmodeled dynamics and disturbances. The stabiliy properties of the controllers are proved by the Lyapunov method. Asymptoic stabiliy of the closed loop system is proved under a set of nonrestricive assumpions on the plan and the disturbances. This control law providing smaller errors and beer performance to deal wih uncertainty and disturbances. Finally, we will use a 2-dof planar robot manipulator to verify the effectiveness of the proposed control scheme.