Position Domain PD Sliding Mode Control for Contour Tracking

被引：0
|
作者：
Ouyang, P. R. [1 ,2 ]
Pano, V. [2 ]
Hu, Y. Q. [1 ]
机构：
[1] Hunan Univ Sci & Technol, Coll Mech & Elect Engn, Xiangtan, Peoples R China
[2] Ryerson Univ, Dept Aerosp Engn, Toronto, ON, Canada
来源：
2015 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM) | 2015年
关键词：
ROBOT MANIPULATORS; TRAJECTORY TRACKING; SYSTEMS;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
In this paper, a novel position domain PD sliding mode control (PDC-SMC) law is proposed for nonlinear robotic manipulators with the main purpose of improving contour tracking performance. The new controller takes the advantages of the high contour tracking performance of PD type position domain control (PDC) and the robustness of SMC in order to create a model independent control scheme. Stability analysis is performed based on the Lyapunov method, and simulation studies are conducted to verify the effectiveness of the developed PDC-SMC control systems.
引用
收藏
页码：1020 / 1025
页数：6
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