Sliding-mode motion/force control of constrained robots

DOI10.1109/9.704980zbMath0957.93008OpenAlexW2154757413MaRDI QIDQ4506548

Chia-Ru Lin, Kuang-Yow Lian

Publication date: 17 October 2000

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1109/9.704980

zbMATH Keywords

sliding-mode controllerconstrained robot manipulatorsstable sliding surface

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Variable structure systems (93B12) Kinematics of mechanisms and robots (70B15)

Related Items (4)

Sliding mode control design for discrete multivariable systems with time-delayed input signals ⋮ Cooperative control of NN super twisting sliding mode and EPH methods for uncertain nonlinear systems ⋮ Perfect position/force tracking of robots with dynamical terminal sliding mode control ⋮ Regulation control of an underactuated mechanical system with discontinuous friction and backlash

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