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

Lyapunov's second methodrobot manipulatorssliding mode control

Mathematics Subject Classification ID

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

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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)

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

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