DocumentCode
3451164
Title
Chattering free sliding modes in robotic manipulators control
Author
Sabanovic, Asif ; Wada, Kenzo ; Sabanovic, Nadira
Author_Institution
Fac. of Eng., Yamaguchi Univ., Ube, Japan
Volume
2
fYear
1993
fDate
26-30 Jul 1993
Firstpage
1260
Abstract
Sliding mode control (SMC) of a system which is linear with respect to control and its application to robotic manipulator control system design is presented. The controller is designed to provide sliding mode motion on selected manifolds in the state space. These manifolds are selected as a linear combination of the state coordinates. This selection allows the formulation of the path tracking control, force control, and impedance control problems to be very similar. The control is selected to satisfy selected Lyapunov function and stability criteria
Keywords
manipulators; Lyapunov function; chattering-free sliding mode control; force control; impedance control; linear system; path tracking control; robotic manipulator control system design; stability criteria; state coordinates; state-space manifold selection; Control systems; Force control; Impedance; Manipulators; Motion control; Orbital robotics; Robot control; Robot kinematics; Sliding mode control; State-space methods;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on
Conference_Location
Yokohama
Print_ISBN
0-7803-0823-9
Type
conf
DOI
10.1109/IROS.1993.583745
Filename
583745
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