Motion control of rigid robot manipulators via first and second order sliding modes

Journal of Intelligent and Robotic Systems: Theory and Applications

Volumn 48, Issue 1, 2007, Pages 23-36

  Ferrara, A ^a   Magnani, L ^a  

^a UNIVERSITY OF PAVIA   (Italy)

Author keywords

Motion control strategy; Rigid robot manipulators; Sliding mode; Time varying inertia matrix

Indexed keywords

COMPUTER SIMULATION; MANIPULATORS; MOBILE ROBOTS; SLIDING MODE CONTROL;

CHATTERING; RIGID ROBOT MANIPULATORS; TIME VARYING INERTIA MATRIX;

MOTION CONTROL;

EID: 33846046514     PISSN: 09210296     EISSN: 15730409     Source Type: Journal    
DOI: 10.1007/s10846-006-9101-1     Document Type: Conference Paper

References (14)

1. Abdallah, C., Dawson, D., Dorato, P., Jamshidi, M.: Survey of robust control of rigid robots. IEEE Control Syst. Mag. 11(2), 24-30 (1991)
2. Adam, M.J.K.: Basics of Robotics: Theory and Components of Manipulators and Robots. Springer, Berlin Heidelberg New York (1999)
3. Asada, H., Slotine, J.-J.E.: Robot Analysis and Control. Wiley, New York (1986)
4. Chen, Y.-P., Chang, J.-L.: Sliding-mode force control of manipulators. Proc. Natl. Sci. Counc., Repub. China 23(2), 281-289 (1999)
5. Bartolini, G., Ferrara, A., Usai, E.: Chattering avoidance by second order sliding mode control. IEEE Trans. Automat. Contr. 43, 241-246 (1998)
6. Bartolini, G., Ferrara, A., Usai, E., Utkin, V.I.: On multi-input chattering-free second-order sliding mode control. IEEE Trans. Automat. Contr. 45(9), 1711-1717 (2000)
7. Ibrahimbegovic, A., Knopf-Lenoir, C., Kucerova, A., Villon, P.: Optimal design and optimal control of elastic structures undergoing finite rotations. Int. J. Numer. Methods Eng. 61(14), 2428-2460 (2004)
8. Juang, J.-N., Eure, K.W.: Predictive feedback and feedforward control for systems with unknown disturbance. NASA/Tm-1998-208744 (1998)
9. Kuo, C.Y., Wang, S.P.T.: Nonlinear robust industrial robot control. Trans. ASME, J. Dyn. Syst. Meas. Control 11, 24-30 (1989)
10. Perk, J.-S., Han, G.-S., Ahn, H.-S., Kim, D.-H.: Adaptive approaches on the sliding mode control of robot manipulators. Trans. Control, Autom. Syst. Eng. 3(2), 15-20 (2001)
11. Shyu, K.-K., Chu, P.-H., Shang, L.-J.: Control of rigid manipulators via combiantion of adaptive sliding mode control and compensated inverse dynamics approach. IEE Proc., Control Theory Appl. 143(3), 283-288 (1996)
12. Spong, M.W., Lewis, F.L., Abdallah, C.: Robot Control: Dynamics, Motion Planning, and Analysis. IEEE Press, New York (1993)
13. Edwards, C., Spurgeon, S. K.: Sliding Mode Control: Theory and Applications. Taylor & Francis, London, United Kingdom (1998)
14. Utkin, V.I.: Sliding Modes in Control Optimization. Springer, Berlin Heidelberg New York (1992)