Sliding manifold approach to the control of rigid robots: Experimental results

Control Engineering Practice

Volumn 5, Issue 5, 1997, Pages 619-625

  Cavallo, A ^a   Villani, L ^b  

^a SECOND UNIVERSITY OF NAPLES   (Italy)

^b UNIVERSITY OF NAPLES FEDERICO II   (Italy)

Author keywords

robotic manipulators; robust control; singular perturbation method; sliding mode; tracking systems

Indexed keywords

TRACKING SYSTEMS;

PERTURBATION TECHNIQUES; POSITION CONTROL; PROBLEM SOLVING; ROBOTICS; ROBOTS; ROBUSTNESS (CONTROL SYSTEMS); STATISTICAL METHODS;

MANIPULATORS;

EID: 0031147806     PISSN: 09670661     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0967-0661(97)00043-9     Document Type: Article

References (12)

1. An C.H., C.G. Atkeson, and J.M. Hollerbach (1988). Model-based Control of a Robot Manipulator. MIT Press, Cambridge, Mass.
2. Arimoto S., and F. Miyazaki (1984). Stability and robustness of PID feedback control for robot manipulators of sensory capability. In Robotics Research: The First International Symp., (M. Brady, R. Paul (Eds)), pp. 783-799. MIT Press, Cambridge, Mass.
3. Bejczy A.K. (1974). Robot arm dynamics and control. Memo. 33-669, Jet Propulsion Laboratory, California Institute of Technology.
4. Cavallo A., G. De Maria and P. Nistri (1993). Some control problems solved via a sliding manifold approach. Differential Equations and Dynamical Systems, 1, pp. 295-310.
5. Cavallo A., G. De Maria and P. Nistri (1996). A sliding manifold approach to the feedback control of rigid robots. Int. J. of Robust and Nonlinear Control, 6, pp. 501-516.
6. Cavallo A. and G. De Maria (1997). Limited rate control with a singular perturbation approach, submitted to the 36th IEEE Conference on Decision and Control.
7. Corless M. (1989). Tracking controllers for uncertain systems: Application to a Manutec r3 robot. ASME J. of Dynamic Systems, Measurement and Control, 111, pp. 609-618.
8. Gorez R., Y.L. Hsu, R. Zanasi and G. Antonelli (1996). Sliding mode control of robot manipulators. In Advances in Robotics: The ERNET Prespective. (C. Bonivento, C. Melchiorri and H. Tolle (eds)), pp.87-96. World Scientific, Singapore.
9. Kreutz K. (1989). On manipulator control by exact linearization. IEEE Trans. on Automatic Contr., 34, pp. 763-767.
10. Sciavicco, L. and B. Siciliano (1996). Modeling and Control of Robot Manipulators. McGraw-Hill, New York, NY.
11. Spong M.W. and M. Vidyasagar (1987). Robust linear compensator design for nonlinear robotic control. IEEE J. of Robotics and Automation, 3, pp. 345-351.
12. Stepanenko Y. and C. Su (1993). Variable structure control of robot manipulators with nonlinear sliding manifolds. Int. J. of Control, 58, pp. 285-300.