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
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;
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
DOI :
10.1109/IROS.1993.583745
