DocumentCode
2044416
Title
Time-optimal sliding mode control of robot manipulator
Author
Kalaykov, I. ; Iliev, B.
Author_Institution
Dept. of Technol., Orebro Univ., Sweden
Volume
1
fYear
2000
fDate
2000
Firstpage
265
Abstract
We demonstrate a time-optimal control algorithm based on the sliding mode control principle to control a robot manipulator. A designed time-optimal trajectory during the reaching phase is combined with fast sliding dynamics. The discontinuous algorithm gives a time response closer to the analytical time-optimal control solution based on the Pontryagin principle, and robust performance in the presence of plant parameter uncertainties
Keywords
manipulators; maximum principle; time optimal control; uncertain systems; variable structure systems; Pontryagin principle; analytical time-optimal control solution; discontinuous algorithm; fast sliding dynamics; reaching phase; robot manipulator; time response; time-optimal sliding mode control; time-optimal trajectory; Control systems; Delay; Manipulator dynamics; Robot control; Robot kinematics; Robot sensing systems; Robustness; Sliding mode control; Time factors; Velocity control;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Electronics Society, 2000. IECON 2000. 26th Annual Confjerence of the IEEE
Conference_Location
Nagoya
Print_ISBN
0-7803-6456-2
Type
conf
DOI
10.1109/IECON.2000.973161
Filename
973161
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