Adaptive Variable Structure Controller of Redundant Robots with Mobile/Fixed Obstacle Avoidance

T. Madani 1 B. Daachi 2 A. Benallègue 1
2 SIRIUS
LISSI - Laboratoire Images, Signaux et Systèmes Intelligents
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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Article dans une revue
Robotics and Autonomous Systems, Elsevier, 2013, 61 (6), pp.555-564
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https://hal.archives-ouvertes.fr/hal-00917118
Contributeur : Yacine Amirat <>
Soumis le : mercredi 11 décembre 2013 - 13:02:40
Dernière modification le : jeudi 9 février 2017 - 15:45:43

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  • HAL Id : hal-00917118, version 1

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T. Madani, B. Daachi, A. Benallègue. Adaptive Variable Structure Controller of Redundant Robots with Mobile/Fixed Obstacle Avoidance. Robotics and Autonomous Systems, Elsevier, 2013, 61 (6), pp.555-564. <hal-00917118>

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