Adaptive Full-order Sliding Mode Control of Rigid Robotic Manipulators

被引：0
|
作者：
Zhao Dongya [1 ]
Cao Qianlei [2 ]
Li Shurong [2 ]
Zhu Quanmin [1 ,3 ]
机构：
[1] China Univ Petr, Coll Chem Engn, Qingdao 266580, Peoples R China
[2] China Univ Petr, Coll Informat & Control Engn, Qingdao 266580, Peoples R China
[3] Univ West England, Dept Engn Design & Math, Bristol BS16 1QY, Avon, England
来源：
2015 34TH CHINESE CONTROL CONFERENCE (CCC) | 2015年
关键词：
adaptive control; position tracking; full-order sliding mode; robotic manipulators; SYSTEMS;
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, an adaptive sliding mode control is proposed for position tracking of rigid robotic manipulators with system parametric uncertainties. This control scheme can drive the position tracking error reach the designed sliding mode and then converge to zero asymptotically while avoiding the chattering phenomenon. Compared with the robust full-order sliding mode control technique, the proposed scheme can overcome the system uncertainties without requiring prior knowledge of their bounds. Theoretical analysis and simulation results validate the effectiveness of the proposed scheme.
引用
收藏
页码：657 / 662
页数：6
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