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

DOI10.1023/A:1008318928840zbMath0980.93055WikidataQ59909120 ScholiaQ59909120MaRDI QIDQ5929965

Elisabetta Punta, Antonella Ferrara, Giorgio Bartolini

Publication date: 12 March 2002

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

zbMATH Keywords

uncertain systemsliding modevariable structure controlconstrained manipulatorsdifferential algebraic equationsholonomic constraintshybrid position/force multi-input controlLagrangian formulationmanipulator

Mathematics Subject Classification ID

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

Related Items (8)

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 ⋮ Adaptive second order terminal sliding mode controller for robotic manipulators ⋮ Constraint finite-time control of redundant manipulators ⋮ Simplex sliding mode methods for the chattering reduction control of multi-input nonlinear uncertain systems ⋮ Homogeneity approach to high-order sliding mode design ⋮ Finite-time control of robotic manipulators

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