Robust sliding composite adaptive control for mechanical manipulators with finite error convergence time

International Journal of Systems Science

Volumn 32, Issue 9, 2001, Pages 1101-1108

  Barambones, O ^a   Etxebarria, V ^a  

^a UNIVERSITY OF THE BASQUE COUNTRY UPV EHU   (Spain)

Author keywords

[No Author keywords available]

Indexed keywords

ASYMPTOTIC STABILITY; CLOSED LOOP CONTROL SYSTEMS; COMPUTER SIMULATION; CONTROL SYSTEM SYNTHESIS; FEEDBACK CONTROL; MANIPULATORS; NONLINEAR CONTROL SYSTEMS; ROBUSTNESS (CONTROL SYSTEMS); SLIDING MODE CONTROL;

FINITE ERROR CONVERGENCE TIME; NONLINEAR SLIDING MODE CONTROL LAW; ROBUST SLIDING COMPOSITE ADAPTIVE CONTROL;

ADAPTIVE CONTROL SYSTEMS;

EID: 0035469874     PISSN: 00207721     EISSN: None     Source Type: Journal    
DOI: 10.1080/00207720010015726     Document Type: Article

References (19)

1. Craig, J. J., 1988, Adaptive Control of Mechanical Manipulators (Reding, Massaschusetts: Addison-Wesley).
2. Feng, G., and Ren, R. L., 1995, Robust adaptive control for robot manipulators. International Journal of Systems Science, 26, 1017-1028.
3. Feng, C. B., and Wu, Y. Q., 1996, A design scheme of variable structure adaptive control for uncertain dynamics systems. Automatica, 32, 561-567.
4. Hale, J. K., 1969. Ordinary Differential Equations. (Huntington, New Jersey: Krieger).
5. Leitmann, G., 1993, On one approach to the control uncertain systems. Journal of Dynamic Systems, Measurement and Control, 115, 373-380.
6. Middleton, R. H., and Goodwin, G. C., 1988, Adaptive computed torque control for rigid-link manipulators. Systems and Control Letters, 10, 9-16.
7. Ortega, R., and Spong, M. W., 1989, Adaptive motion control of rigid robots: a tutorial. Automatica, 25, 251-265.
8. Park K. B., and Lee, J. J., 1996, Comments on 'A robust MIMO terminal sliding mode control scheme for rigid robotic manipulators'. IEEE Transactions on Automatic Control, 41, 761-762.
9. Slotine, J. J. E., and Li, W., 1989, Composite adaptive control of robot manipulators. Automatica, 25, 509-519
10. Slotine, J. J. E., and Li, W., 1991, Applied Nonlinear Control. (Englewood Cliffs, New Jersey: Prentice-Hall).
11. Slotine J. J. E., and Sastry, S. S., 1983, Tracking control of nonlinear systems using sliding surfaces with applications to robot manipulators. International Journal of Control, 38, 465-492.
12. Spong, M. W., 1992, On the robust control of robot manipulator. IEEE Transactions on Automatic Control, 7, 1782-1786.
13. Spong, M. W., and Vidyasagar, M., 1989, Robot dynamics and Control. (New York: Wiley).
14. Utkin, V. I., 1992, Sliding Modes in Control Optimization. (New York: Springer-Verlag).
15. Tang, Y., 1998, Terminal sliding mode control for rigid robots. Automatica, 34, 51-56.
16. Wu, Y., and Yu, X., 1998, Adaptive output feedback variable-structure control design for uncertain dynamic systems. International Journal of Control, 69, 145-162.
17. Zhihong, M., Paplinski, A. P., and Wu, H. R., 1994, A robust MIMO terminal sliding mode control scheme for rigid robotic manipulators. IEEE Transactions on Automatic Control, 39, 2462-2469.
18. Zhihong, M., and O'Day, M., 1999, A robust adaptive terminal sliding mode control for rigid robotic manipulators. Journal of Intelligent and Robotic Systems, 24, 23-41.
19. Zhu, G., and Ge S. S., 1998, A quasi-tracking approach for finite-time control of a mass bean system. Automatica, 34, 881-888.