Time-optimal sliding mode control of robot manipulator

被引：0
|
作者：
Kalaykov, I [1 ]
Iliev, B [1 ]
机构：
[1] Univ Orebro, Dept Technol, Ctr Appl Autonomous Sensor Syst, S-70182 Orebro, Sweden
来源：
IECON 2000: 26TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-4: 21ST CENTURY TECHNOLOGIES AND INDUSTRIAL OPPORTUNITIES | 2000年
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D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We demonstrate a time-optimal control algorithm based on the sliding mode control principle to control a robot manipulator. A designed time-optimal trajectory during the reaching phase is combined with fast sliding dynamics. The discontinuous algorithm gives a time response closer to the analytical time-optimal control solution based on the Pontryagin principle, and robust performance in the presence of plant parameter uncertainties.
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收藏
页码：265 / 270
页数：6
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