Title :
A combined first and second order sliding mode approach for hybrid control of constrained manipulators
Author :
Bartolini, G. ; Ferrara, A. ; Punta, E. ; Usai, E.
Author_Institution :
Dept. of Electr. & Electron. Eng., Cagliari Univ., Italy
Abstract :
This paper deals with the hybrid position/force control of constrained manipulators subject to uncertainties and disturbances of various nature. A solution is proposed based on the sliding mode control theory, which revealed to be highly effective in counteracting uncertainties and disturbances for some class of uncertain nonlinear systems. Specific problems connected to this technique are the chattering elimination and the algebraic coupling between constraint forces and possibly discontinuous control signals. The solution proposed in this paper overcomes these problems by applying a new second order sliding mode control algorithm
Keywords :
force control; manipulator dynamics; nonlinear systems; position control; uncertain systems; variable structure systems; algebraic coupling; chattering; constrained manipulators; disturbances; dynamics; force control; nonlinear systems; position control; sliding mode control; uncertain systems; Communication system control; Control systems; Differential algebraic equations; Force control; Jacobian matrices; Position control; Robots; Sliding mode control; Strain control; Uncertainty;
Conference_Titel :
Decision and Control, 1997., Proceedings of the 36th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4187-2
DOI :
10.1109/CDC.1997.657565