A Model-Based Sliding Mode Controller for Extensible Continuum Robots

被引：0
|
作者：
Kapadia, Apoorva D. [1 ]
Walker, Ian D. [1 ]
Dawson, Darren M. [1 ]
Tatlicioglu, Enver
机构：
[1] Clemson Univ, Dept Elect & Comp Engn, 105A Riggs Hall, Clemson, SC 29634 USA
来源：
ISPRA '09: PROCEEDINGS OF THE 9TH WSEAS INTERNATIONAL CONFERENCE ON SIGNAL PROCESSING, ROBOTICS AND AUTOMATION | 2010年
基金：
美国国家科学基金会;
关键词：
Sliding-Mode Control; Continuum Robot; KINEMATICS;
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：
In this paper, we present a new control strategy for continuous backbone (continuum) "trunk and tentacle" robots. Control of this emerging new class of robots has proved difficult due to the inherent complexity of their dynamics. Using a recently established full dynamic model, we introduce a new nonlinear model-based control strategy for continuum robots. The approach is applicable to continuum robots which can extend/contract as well as bend throughout their structure. Results are illustrated using a three-section, six degree of freedom planar continuum robot.
引用
收藏
页码：113 / +
页数：3
相关论文
共 50 条
  • [31] Multi-surface sliding mode control of continuum robots with mismatched uncertainties
    Ahmad Abu Alqumsan
    Suiyang Khoo
    Michael Norton
    Meccanica, 2019, 54 : 2307 - 2316
  • [32] A comparison of sliding mode fuzzy controller and fuzzy sliding mode controller
    Song, FJ
    Smith, SM
    PEACHFUZZ 2000 : 19TH INTERNATIONAL CONFERENCE OF THE NORTH AMERICAN FUZZY INFORMATION PROCESSING SOCIETY - NAFIPS, 2000, : 480 - 484
  • [33] Adaptive model predictive control algorithm of robots based on fuzzy sliding mode
    Ying, Zehua
    Wang, Lihui
    Gu, Weiqi
    Xu, Ninghui
    Zhongguo Guanxing Jishu Xuebao/Journal of Chinese Inertial Technology, 2024, 32 (11): : 1142 - 1150
  • [34] A Sliding Mode Observer Based Sensorless Controller
    Fang, Zhou
    Chen, Yingdong
    Chen, Kaiwen
    Pan, J. F.
    2022 IEEE 9TH INTERNATIONAL CONFERENCE ON POWER ELECTRONICS SYSTEMS AND APPLICATIONS, PESA, 2022,
  • [35] Sliding mode based controller for magnetostrictive actuator
    Li, XinXin
    Wang, Wen
    Chen, Zichen
    2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-3, 2006, : 1266 - +
  • [36] A model-based fuzzy controller
    Michels, K
    FUZZY SETS AND SYSTEMS, 1997, 85 (02) : 223 - 232
  • [37] A MODEL-BASED FUZZY CONTROLLER
    POSTLETHWAITE, B
    CHEMICAL ENGINEERING RESEARCH & DESIGN, 1994, 72 (A1): : 38 - 46
  • [38] Model-based fuzzy controller
    Postlethwaite, B.
    Chemical Engineering Research and Design, 1994, 72 (A1) : 38 - 46
  • [39] Smooth Fractional Order Sliding Mode Controller for Spherical Robots with Input Saturation
    Zhou, Ting
    Xu, Yu-gong
    Wu, Bin
    APPLIED SCIENCES-BASEL, 2020, 10 (06):
  • [40] Backstepping and Novel Sliding Mode Trajectory Tracking Controller for Wheeled Mobile Robots
    Huang, Hangjie
    Gao, Jinfeng
    MATHEMATICS, 2024, 12 (10)
12345