A sliding manifold approach to the feedback control of rigid robots

International Journal of Robust and Nonlinear Control

Volumn 6, Issue 6, 1996, Pages 501-516

  Cavallo, A ^a   De Maria, G ^a   Nistri, P ^b  

^a UNIVERSITY OF NAPLES FEDERICO II   (Italy)

^b UNIVERSITY OF FLORENCE   (Italy)

Author keywords

Singularly perturbed systems; Sliding manifold

Indexed keywords

ACTUATORS; CLOSED LOOP CONTROL SYSTEMS; CONTROL SYSTEM SYNTHESIS; DYNAMICS; FEEDBACK CONTROL; GAIN CONTROL; PERTURBATION TECHNIQUES; ROBOTICS; TACHOMETERS; TOPOLOGY;

FAST NONOSCILLATING MODES; PD FEEDBACK CONTROLLER; RIGID ROBOTIC MANIPULATORS; SINGULAR PERTURBATION THEORY; SLIDING MANIFOLD APPROACH;

MANIPULATORS;

EID: 0030193439     PISSN: 10498923     EISSN: None     Source Type: Journal    
DOI: 10.1002/(SICI)1099-1239(199607)6:6<501::AID-RNC141>3.0.CO;2-B     Document Type: Article

References (21)

1. Freund, E., 'Fast nonlinear control with arbitrary pole-placement for industrial robots and manipulators', Int. J. Robotics Res., 1(1), 65-78 (1982).
2. Tam, T. J., A. K. Bejczy, A. Isidori and Y. Chen, 'Nonlinear feedback in robot arm control', Proc. 23rd IEEE Conf. Decision and Control, Las Vegas, NV, 1984.
3. Dubowsky, S. and D. T. DesForges, 'The application of model reference adaptive control to robotic manipulators', Trans. ASME, J. Dynamic Syst., Meas. and Control, 101, 193-200 (1979).
4. Balestrino, A., G. De Maria and L. Sciavicco, 'An adaptive model following control for robotic manipulator', Trans. ASME, J. Dynamic Syst., Meas. and Control, 105(3), 143-151 (1983).
5. Nicosia, S. and P. Tomei, 'Model reference adaptive control algorithms for industrial robots', Automatica, 20(5), 635-644 (1984).
6. Balestrino, A., G. De Maria and A. S. I. Zinober, 'Nonlinear adaptive model following control', Automatica, 20(5), 559-568 (1984).
7. Young, K. K. D., 'Controller design for a manipulator using theory of variable structure systems', IEEE Trans. System Man Cybern., SMC-8, 108-119 (1978).
8. Paden, B. E. and S. S. Sastry, 'A calculus for computing Filippov's differential inclusion with application to the variable structure control of robot manipulators', IEEE Trans. Circuit Systems, 34, 73-81 (1987).
9. Slotine, J. J. and W. Li, Applied Nonlinear Control, Prentice Hall, Englewood Cliffs, NY, 1991.
10. Slotine, J. J. and S. S. Sastry, 'Tracking control of nonlinear systems using sliding surfaces with application to robot manipulators', Int. J. Contr., 38, 465-492 (1983).
11. Slotine, J. J., 'Robust control of robot manipulators', Int. J. Robotics Res., 4(2), 49-64 (1987).
12. Ambrosino, G., G. Celentano and F. Garofalo, 'Adaptive tracking control of industrial robots', Trans. ASME, J. Dynamic Syst., Meas. and Control, 110(3), 215-220 (1988).
13. Ortega, R. and M. W. Spong, 'Adaptive motion control of rigid robots: a tutorial', Proc. 27th Conf. Decision and Control, Austin, 1988.
14. Kokotovic, P. V., H. K. Khalil and J. O'Reilly, Singular Perturbation Methods in Control: Analysis and Design, Academic Press, New York, 1986.
15. Utkin, V. I., Sliding Modes and their Application in Variable Structure Systems, MIR, Moscow, 1978.
16. Bartolini, G. and T. Zolezzi, 'Control of nonlinear variable structure systems', J. Math. Anal. Appl., 118, 42-62 (1986).
17. Troch, I. and K. Desoyer, 'Benchmark problems for control system design', IFAC Theory Committee, E. J. Davison (Ed.), Express Litho Service, Oxford, 1984.
18. Johnson, R. and P. Nistri, 'Variable structure control problems and the theory of singular perturbations', Proc. 31st I.E.E.E. Conf. on Decision and Control, Tucson, 1992.
19. Khalil, H. K., Nonlinear Systems, Macmillan, New York, 1992.
20. Coppel, W. A., Dichotomies in Stability Theory, Springer Verlag, Berlin, 1978.
21. Desoer, C. A. and M. Vidyasagar, Feedback Systems: Input - Output Properties, Academic Press, Orlando, FL, 1975.