Multi-input second-order sliding-mode hybrid control of constrained manipulators (Q5929965)
From MaRDI portal
scientific article; zbMATH DE number 1587190
Language | Label | Description | Also known as |
---|---|---|---|
English | Multi-input second-order sliding-mode hybrid control of constrained manipulators |
scientific article; zbMATH DE number 1587190 |
Statements
Multi-input second-order sliding-mode hybrid control of constrained manipulators (English)
0 references
12 March 2002
0 references
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.
0 references
uncertain system
0 references
sliding mode
0 references
variable structure control
0 references
hybrid position/force multi-input control
0 references
constrained manipulators
0 references
Lagrangian formulation
0 references
holonomic constraints
0 references
manipulator
0 references
differential algebraic equations
0 references