Sliding-mode motion/force control of constrained robots

DOI10.1109/9.704980MaRDI QIDQ4506548zbMATH OpenOpenAlexFDO

Authors Kuang-Yow Lian, Chia-Ru Lin

Publication date 17 October 2000

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1109/9.704980

zbMATH Keywords

constrained robot manipulatorssliding-mode controllerstable sliding surface

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05) Variable structure systems (93B12) Automated systems (robots, etc.) in control theory (93C85)

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(17)

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• Regulation control of an underactuated mechanical system with discontinuous friction and backlash
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• Perfect position/force tracking of robots with dynamical terminal sliding mode control
• Decentralized integral sliding mode control for time varying constrained modular and reconfigurable robot based on harmonic drive transmission
• Force/motion control of constrained robots using sliding mode
• Comments on "Force/motion control of constrained robots using sliding mode"
• Sliding mode control design for discrete multivariable systems with time-delayed input signals
• Sliding mode force, motion control, and stabilization of elastic manipulator in the presence of uncertainties
• Robust adaptive force/motion control of constrained robots
• Sliding mode control of a finger for a prosthetic hand
• Full‐Order Sliding‐Mode Control of Rigid Robotic Manipulators
• Design and experimental validation of a second-order sliding-mode motion controller for robot manipulators
• A continuous terminal sliding mode algorithm for robot manipulators: an application to force control
• Cooperative control of NN super twisting sliding mode and EPH methods for uncertain nonlinear systems
• Adaptive estimator-based nonsingular fast terminal sliding mode control of robotic manipulator systems under FDI attacks and actuator failure
• Adaptive super-twisting sliding mode control based on the synchronous time estimator for autonomous underwater vehicle

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