Simple sliding mode control scheme applied to robot manipulators

DOI10.1080/00207178708933801zbMath0613.93043OpenAlexW2137653721WikidataQ56421081 ScholiaQ56421081MaRDI QIDQ4721936

Eric Bailey, Aristotle Arapostathis

Publication date: 1987

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

Full work available at URL: https://doi.org/10.1080/00207178708933801

zbMATH Keywords

sliding mode controlrobot manipulatorsLyapunov's second method

Mathematics Subject Classification ID

Controllability (93B05) Application models in control theory (93C95) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15) Ordinary differential inclusions (34A60) Existence of optimal solutions belonging to restricted classes (Lipschitz controls, bang-bang controls, etc.) (49J30) Control/observation systems governed by ordinary differential equations (93C15)

Related Items (13)

Path tracking control of robot manipulators via the VSS approach ⋮ Sliding-mode control of multi-link flexible manipulators ⋮ Sliding mode control of linear systems with mismatched uncertainties ⋮ Sliding-mode controller design of a single-link flexible manipulator under gravity ⋮ Operating robot manipulators through kinematic singularities using a continuously sliding mode control ⋮ Robust trajectory following of robots using computed torque structure with VSS ⋮ A control scheme robust against all parameter variations and disturbances ⋮ An adaptive sliding mode control scheme for robot manipulators ⋮ Robust attitude control of spacecraft using sliding mode control and productive networks ⋮ Task-space control of robots using an adaptive Taylor series uncertainty estimator ⋮ Sliding mode controllers design for linear discrete-time systems with matching perturbations ⋮ Variable structure control of robot manipulators with nonlinear sliding manifolds ⋮ Unmodeled dynamics in adaptive control systems revisited

Cites Work

• Sliding controller design for non-linear systems
• Tracking control of non-linear systems using sliding surfaces, with application to robot manipulators†
• Controller Design for a Manipulator Using Theory of Variable Structure Systems
• Variable structure systems with sliding modes

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