Simple sliding mode control scheme applied to robot manipulators

DOI10.1080/00207178708933801MaRDI QIDQ4721936zbMATH OpenOpenAlexWikidataFDO

Authors Eric Bailey, Ari Arapostathis

Publication date 1987

Published in International Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/00207178708933801

zbMATH Keywords

sliding mode controlLyapunov's second methodrobot manipulators

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Controllability (93B05) Ordinary differential inclusions (34A60) Existence of optimal solutions belonging to restricted classes (Lipschitz controls, bang-bang controls, etc.) (49J30) Control of mechanical systems (70Q05) Control/observation systems governed by ordinary differential equations (93C15) Application models in control theory (93C95)

Recommendations

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Cites work

• Controller Design for a Manipulator Using Theory of Variable Structure Systems
• Sliding controller design for non-linear systems
• Tracking control of non-linear systems using sliding surfaces, with application to robot manipulators†
• Variable structure systems with sliding modes

Cited in

(23)

• Comments on "A new and simple algorithm for sliding mode trajectory control of robot arm" by Y.F. Chen, et al
• Comments on "Force/motion control of constrained robots using sliding mode"
• Passivity-based control of underactuated mechanical systems with Coulomb friction: application to earthquake prevention
• An adaptive sliding mode control scheme for robot manipulators
• Sliding-mode control of multi-link flexible manipulators
• A control scheme robust against all parameter variations and disturbances
• Sliding-mode controller design of a single-link flexible manipulator under gravity
• Gain adaptation in sliding mode control of robotic manipulators
• Operating robot manipulators through kinematic singularities using a continuously sliding mode control
• Task-space control of robots using an adaptive Taylor series uncertainty estimator
• scientific article; zbMATH DE number 2150217 (Why is no real title available?)
• Sliding mode control of manipulators using first-order equations of motion with diagonal mass matrix
• An elbow planar manipulator driven by induction motors using sliding mode control for current loop
• Robust attitude control of spacecraft using sliding mode control and productive networks
• Strict Lyapunov function for sliding mode control of manipulator using quasi-velocities
• Sliding mode control of linear systems with mismatched uncertainties
• Adaptive sliding mode control for the excavator manipulator
• Variable structure control of robot manipulators with nonlinear sliding manifolds
• Robust trajectory following of robots using computed torque structure with VSS
• Path tracking control of robot manipulators via the VSS approach
• Unmodeled dynamics in adaptive control systems revisited
• Sliding mode controllers design for linear discrete-time systems with matching perturbations
• Design of a real time path of motion using a sliding mode control with a switching surface

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