Tham khảo tài liệu 'sliding mode control part 9', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Non-Adaptive Sliding Mode Controllers in Terms of Inertial Quasi-Velocities 269 represents a rotational inertia about joint axis arising from the motion of other manipulator links. Figure 2 h compares the kinetic energy for the whole manipulator K and for all joints. The great value of K3 can be related to the dominant values of N3 the two informations can be obtained only for the GVC controller . From Figure 2 i it is observable that the kinetic energy is reduced faster using GVC controller than using the CL controller. Yasukawa-like manipulator The manipulator is depicted in Figure 1 b . The given below results are based on Herman 2009b . The polynomial trajectories were described with initial points 3ị1 1 3 n rad Ỡi2 n rad ỡj 3 1 2 n rad final points Ỡf1 2 3 n rad Ỡf2 0 rad Ỡf3 1 2 n rad and the time duration tf 1s. The starting points were different from the initial points A rad. It was assumed the following control coefficients set kD diag 10 10 10 A diag 15 15 15 kP diag 150 150 150 for the GVC controller 30 . For the classical controller 28 we assumed the set kD diag 10 10 10 A diag 30 30 30 . Diagonal elements values of the matrix A are two times smaller for the GVC controller than for the classical one. For the same set of coefficients performance of the classical controller are worse than for the considered case. Profiles of the desired joint position and velocity trajectories are shown in Figure 3 a . The joint position errors for the GVC and the classical CL controller are shown in Figures 3 b and 3 c respectively. It is observable that the errors for the GVC controller tend very fast to zero and the manipulator works correctly. But for the CL controller the joint position errors tend to zero more slowly. Increasing the gain coefficients kD or A could lead to better performance obviously under condition avoidance undesirable over-regulation. This observation confirms Figure 3 d because the error norm in logarithmic scale has distinctly
