Discrete sliding mode control with uncertain modelling applied to robot manipulator

Author

Hamerlain, M. ; Laghrouche, S. ; Benlamine, R.

Author_Institution

CDTA/LRIA, Algiers, Algeria

fYear

2002

fDate

9-11 Nov. 2002

Firstpage

147

Lastpage

151

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robot Motion and Control, 2002. RoMoCo '02. Proceedings of the Third International Workshop on

Print_ISBN

83-7143-429-4

Type

conf

DOI

10.1109/ROMOCO.2002.1177100

Filename

1177100