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
相关论文
共 50 条
  • [31] Design of adaptive sliding mode controller for robotic manipulators tracking control
    Kuo, T.C.
    Huang, Y.J.
    Hong, B.W.
    [J]. World Academy of Science, Engineering and Technology, 2011, 77 : 190 - 194
  • [32] Adaptive Fuzzy Controller Design for Robotic Manipulators with Sliding Mode Control
    Kuo, T. C.
    Hong, B. W.
    Huang, Y. J.
    Chen, C. Y.
    [J]. 2008 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS, VOLS 1-5, 2008, : 581 - +
  • [33] Adaptive Backstepping Sliding Mode Control of Trajectory Tracking for Robotic Manipulators
    Dachang Zhu
    Baolin Du
    Puchen Zhu
    Wu, Wenqiang
    [J]. COMPLEXITY, 2020, 2020
  • [34] Robust adaptive control of robotic manipulators based on terminal sliding mode
    Key Laboratory of Process Industry Automation, Northeastern University, Shenyang 110004, China
    [J]. Kong Zhi Li Lun Yu Ying Yong, 2006, 6 (913-917):
  • [35] Continuous Full-Order Terminal Sliding Mode Control for a Class of Nonlinear Systems
    Zhou, Minghao
    Feng, Yong
    Han, Fengling
    [J]. PROCEEDINGS OF THE 36TH CHINESE CONTROL CONFERENCE (CCC 2017), 2017, : 3657 - 3660
  • [36] Tracking Control of Robotic Manipulators Using Fractional-Order Sliding-Mode with Adaptive Gain
    Zhou, Minghao
    Cheng, Siwei
    Cai, William
    Xu, Long
    Chi, Ying
    Chen, Lei
    [J]. 2020 IEEE 9TH INTERNATIONAL POWER ELECTRONICS AND MOTION CONTROL CONFERENCE (IPEMC2020-ECCE ASIA), 2020, : 588 - 593
  • [37] Design of Adaptive Fractional-Order Fixed-Time Sliding Mode Control for Robotic Manipulators
    Ahmed, Saim
    Azar, Ahmad Taher
    Tounsi, Mohamed
    [J]. ENTROPY, 2022, 24 (12)
  • [38] Second-order adaptive integral terminal sliding mode approach to tracking control of robotic manipulators
    Hao, Shuang
    Hu, Lingyan
    Liu, Peter Xiaoping
    [J]. IET CONTROL THEORY AND APPLICATIONS, 2021, 15 (17): : 2145 - 2157
  • [39] Full-order Sliding Mode Control for Deployment/Retrieval of Space Tether System
    Rna, Zhiqiang
    Sun, Guanghui
    [J]. 2016 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC), 2016, : 407 - 412
  • [40] Full-Order Sliding Mode Control for the Attitude of the Spacecraft under Input Saturation
    Guo, Yong
    Xiao, Chao
    Zhang, Dawei
    Li, Ai-jun
    Wang, Chang-qing
    [J]. JOURNAL OF AEROSPACE ENGINEERING, 2023, 36 (05)
12345