Sliding Mode Controller for Robust Trajectory Tracking using Haptic Robot

被引：0

作者：

Surendran, Akhil ^{[1
]}

Mija, S. J. ^{[2
]}

机构：

[1] Natl Inst Technol Calicut, Instrumentat & Control Syst, Calicut 673601, Kerala, India

[2] Natl Inst Technol Calicut, Dept Elect Engn, Calicut, Kerala, India

来源：

PROCEEDINGS OF THE FIRST IEEE INTERNATIONAL CONFERENCE ON POWER ELECTRONICS, INTELLIGENT CONTROL AND ENERGY SYSTEMS (ICPEICES 2016) | 2016年

关键词：

Sliding Mode Controller; haptics; Omni Bundle;

D O I：

暂无

中图分类号：

TE [石油、天然气工业]; TK [能源与动力工程];

学科分类号：

0807 ; 0820 ;

摘要：

Haptics refers to sensing and manipulation through touch. Haptic devices are also used for trajectory setting. The most important feature of these devices is the possibility of feeling force feedback by an operator. This paper addresses the main problem of teleoperation system, which is how to achieve accurate position tracking control using the haptic device. A sliding mode controller is developed for trajectory tracking and simulation results demonstrate the excellent tracking performance of the system.

引用

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页数：6

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