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

DOI10.1023/A:1008318928840MaRDI QIDQ5929965zbMATH OpenWikidataFDO

Authors Giorgio Bartolini, Antonella Ferrara, Elisabetta Punta

Publication date 12 March 2002

Published in Dynamics and Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1023/A:1008318928840

zbMATH Keywords

constrained manipulatorsdifferential algebraic equationsholonomic constraintshybrid position/force multi-input controlLagrangian formulationmanipulatorsliding modeuncertain systemvariable structure control

Mathematics Subject Classification ID

Implicit ordinary differential equations, differential-algebraic equations (34A09) Kinematics of mechanisms and robots (70B15) Holonomic systems related to the dynamics of a system of particles (70F20) Variable structure systems (93B12) Automated systems (robots, etc.) in control theory (93C85)

Review text

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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Cited in

(13)

• Chattering elimination in the hybrid control of constrained manipulators via first/ second order sliding mode control
• Adaptive and nonadaptive hybrid controllers for rheonomically constrained manipulators
• Stability of hybrid position and force control for robotic manipulator with kinematics and dynamics uncertainties.
• An approach to the dynamics and control of uncertain robot manipulators
• Finite-time control of robotic manipulators
• Adaptive second order terminal sliding mode controller for robotic manipulators
• Homogeneity approach to high-order sliding mode design
• Constraint finite-time control of redundant manipulators
• scientific article; zbMATH DE number 1004896 (Why is no real title available?)
• Global output-feedback tracking and load disturbance rejection for electrically-driven robotic manipulators with uncertain dynamics
• Design and experimental validation of a second-order sliding-mode motion controller for robot manipulators
• Principles of 2-sliding mode design
• Simplex sliding mode methods for the chattering reduction control of multi-input nonlinear uncertain systems

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