Robust control of robotic manipulators based on integral sliding mode

DOI10.1080/00207170701749881zbMath1154.93344OpenAlexW2012369340MaRDI QIDQ3603714

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Publication date: 18 February 2009

Published in: International Journal of Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/00207170701749881

zbMATH Keywords

robot manipulatorintegral sliding modecomputed torque controlperturbation estimator

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Perturbations in control/observation systems (93C73) Automated systems (robots, etc.) in control theory (93C85)

Related Items (8)

Trajectory tracking of Stanford robot manipulator by fractional-order sliding mode control ⋮ Fixed-time integral sliding mode control design for a class of uncertain nonlinear systems based on a novel fixed-time stability condition ⋮ Underactuated fingers controlled by robust and adaptive trajectory following methods ⋮ Position synchronised control of multiple robotic manipulators based on integral sliding mode ⋮ Integral sliding mode controller for precise manoeuvring of autonomous underwater vehicle in the presence of unknown environmental disturbances ⋮ Robust control of robotic manipulators based on left inverse system and variable structure model reference adaptive control ⋮ A new terminal sliding mode control for robotic manipulators ⋮ Optimal integral sliding mode control scheme based on pseudospectral method for robotic manipulators

Cites Work

• A new and simple algorithm for sliding mode trajectory control of the robot arm
• An approach to nonlinear feedback control with applications to robotics
• Global transformations of nonlinear systems
• Controller Design for a Manipulator Using Theory of Variable Structure Systems
• Mini–Max Integral Sliding-Mode Control for Multimodel Linear Uncertain Systems
• Nonlinear Integral-Type Sliding Surface for Both Matched and Unmatched Uncertain Systems
• Analysis and design of integral sliding manifolds for systems with unmatched perturbations

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