Title :
Discrete sliding mode control with uncertain modelling applied to robot manipulator
Author :
Hamerlain, M. ; Laghrouche, S. ; Benlamine, R.
Author_Institution :
CDTA/LRIA, Algiers, Algeria
Abstract :
This paper discusses discrete sliding mode control for two-link rigid robotic manipulators with uncertain modelling. The discrete sliding mode control problem is formulated. Necessary and sufficient conditions of stability along with the effect of sampling are stated. The discrete controller is shown to lead to a stable closed-loop system. Simulation results are presented to illustrate the features of the control scheme.
Keywords :
Lyapunov methods; closed loop systems; control nonlinearities; discrete systems; manipulator dynamics; position control; stability criteria; uncertain systems; variable structure systems; Lyapunov techniques; discrete controller; discrete sliding mode control; dynamic equation; necessary sufficient stability conditions; robot manipulator; sampling effect; simulation results; stable closed-loop system; tracking trajectory; two link rigid robotic manipulators; uncertain modelling; unknown nonlinear dynamics; Control systems; Manipulator dynamics; Motion control; Robots; Robust control; Sampling methods; Sliding mode control; Stability; Sufficient conditions; Trajectory;
Conference_Titel :
Robot Motion and Control, 2002. RoMoCo '02. Proceedings of the Third International Workshop on
Print_ISBN :
83-7143-429-4
DOI :
10.1109/ROMOCO.2002.1177100
