Multi-input second-order sliding-mode hybrid control of constrained manipulators (Q5929965)

The authors consider the hybrid position/force multi-input control of constrained manipulators. The analysis is based on a Lagrangian formulation of the dynamical equations for a robot with holonomic constraints. The authors consider a manipulator with \(n\) degrees of freedom. The end effector is constrained on a smooth \(m\)-dimensional manifold, and its frictionless interaction occurs with an infinitely stiff rigid environment. So the dynamics of the constrained robot is expressed by a redundant set of \(n+m\) differential algebraic equations. It is assumed that the system is uncertain in both of its components. Finally, the authors state that this problem can be solved despite a high degree of ``ignorance'' on the robot and the constrained equations.