Title :
Trajectory control of manipulators using adaptive sliding mode control
Author :
Park, J.S. ; Jiang, Y.A. ; Hesketh, T. ; Clements, D.J.
Author_Institution :
Sch. of Electr. Eng., New South Wales Univ., Kensington, NSW, Australia
Abstract :
Considers an adaptive control algorithm for robot manipulators. The presented algorithm uses an adaptive sliding mode control law to ensure robustness. The proposed algorithms eliminate the requirement for inversion of the inertia matrix, the requirement for measurement of joint acceleration, and the requirement for calculation of a regressor. Computer simulation results show good properties of the proposed algorithm under large manipulator parameter uncertainties and disturbances
Keywords :
adaptive control; manipulators; position control; stability; variable structure systems; adaptive sliding mode control; computer simulation; disturbances; parameter uncertainties; robot manipulators; robustness; trajectory control; Acceleration; Accelerometers; Adaptive control; Computer simulation; Manipulators; Programmable control; Robots; Robust control; Sliding mode control; Uncertain systems;
Conference_Titel :
Southeastcon '94. Creative Technology Transfer - A Global Affair., Proceedings of the 1994 IEEE
Conference_Location :
Miami, FL
Print_ISBN :
0-7803-1797-1
DOI :
10.1109/SECON.1994.324285
