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

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scientific article; zbMATH DE number 1587190
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Multi-input second-order sliding-mode hybrid control of constrained manipulators
scientific article; zbMATH DE number 1587190

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    Multi-input second-order sliding-mode hybrid control of constrained manipulators (English)
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    12 March 2002
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    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.
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    uncertain system
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    sliding mode
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    variable structure control
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    hybrid position/force multi-input control
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    constrained manipulators
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    Lagrangian formulation
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    holonomic constraints
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    manipulator
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    differential algebraic equations
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