Sliding mode control with perturbation estimation: Application to motion control of parallel manipulator

Control Engineering Practice

Volumn 6, Issue 11, 1998, Pages 1321-1330

  Kim, Nag In ^a   Lee, Chong Won ^b   Chang, Pyung Hun ^b  

^a R and D Technical Center Daewoo Heavy Industries Co Ltd   (South Korea)

^b Korea Advanced Institute of Science and Technology (KAIST)   (South Korea)

Author keywords

AC servo motored actuators; Parallel manipulator; Perturbation estimation; Sliding mode control; Time delay control

Indexed keywords

ACTUATORS; DEGREES OF FREEDOM (MECHANICS); MANIPULATORS; NONLINEAR CONTROL SYSTEMS; PERTURBATION TECHNIQUES; SERVOMOTORS;

NONLINEAR DYNAMIC CONTROL SYSTEMS; PARALLEL MANIPULATORS; SLIDING MODE CONTROL (SMC); TIME DELAY CONTROL;

MOTION CONTROL;

EID: 0032208305     PISSN: 09670661     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0967-0661(98)00090-2     Document Type: Article

References (16)

1. Bertollini, G.P. (1994). The General Motors driving simulator, SAE 940179, pp. 1-14.
2. Elmali, H., & Olgac, N. (1992). Sliding mode control with perturbation estimation: a new approach. International Journal of Control, 56(4), 923-941.
3. Elmali, H., & Olgac, N. (1996). Implementation of sliding mode control with perturbation estimation(SMCPE). IEEE Transactions on Control System Technology, 4(1), 79-85.
4. Gao, W., & Hung, J.C. (1993). Variable structure control of nonlinear systems: A new approach. IEEE Transactions on Industrial Electronics, 40(1), 45-55.
5. Geng, Z.J., & Haynes, L.S. (1994). Six degree-of-freedom active vibration control using the Stewart platform. IEEE Transactions on Control System Technology, 2(1), 45-53.
6. Hunt, K.H. (1978). Kinematic geometry of mechanisms. Oxford: Clarendon Press.
7. Kachroo, P., & Tomizuka, M. (1996). Chattering reduction and error convergence in the sliding-mode control of a class of nonlinear systems. IEEE Transactions on Automatic Control, 41(7), 1063-1068.
8. Ogata, K. (1987). Discrete-time control systems, pp. 311-314. Englewood Cliffs, NJ: Prentice-Hall.
9. Park, K.B., & Lee, J.J. (1993). Variable structure controller for robot manipulators using time-varying sliding surface. IEEE Conference on Robotics and Automation 89-93.
10. Slotine, J.-J.E. (1984). Sliding controller design for non-linear systems. International Journal of Control, 40(2), 421-434.
11. Slotine, J.-J.E., & Coetsee, J.A. (1986). Adaptive sliding mode controller synthesis for non-linear systems. International Journal of Control, 43(6), 1631-1651.
12. Stepanenko, Y., & Su, C.-Y. (1993). Variable structure control of robot manipulators with nonlinear sliding manifolds. International Journal of Control, 58(2), 285-300.
13. Stewart, D. (1965). A platform with six degree-of-freedom. Proceedings Institute of Mechanical Engineering, 180(5), 371-386.
14. Tesfaye, A., & Tomizuka, M. (1996). Robust digital tracking with perturbation estimation via the Euler operator. International Journal of Control, 63(2), 239-256.
15. Youcef-Toumi, K., & Ito, O. (1990). A time delay controller for systems with unknown dynamics. ASME Journal of Dynamic Systems, Measurement, and Control, 112, 133-142.
16. Youcef-Toumi, K., & Wu, S.-T. (1992). Input/output linearization using time delay control. ASME Journal of Dynamic Systems, Measurement, and Control, 114, 10-19.