FORCE MOTION CONTROL OF CONSTRAINED ROBOTS USING SLIDING MODE

被引：68

作者：

SU, CY

LEUNG, TP

ZHOU, QJ

机构：

[1] HONG KONG POLYTECH,DEPT MECH & MARINE ENGN,HONG KONG,HONG KONG

[2] S CHINA UNIV TECHNOL,DEPT AUTOMAT,CANTON,PEOPLES R CHINA

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 1992年 / 37卷 / 05期

关键词：

D O I：

10.1109/9.135513

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A sliding mode control algorithm is presented for trajectory tracking of an end-effector on a constrained surface with specified constraint forces by using the theory of variable structure systems. The development of the algorithm is based on a new formulation of the dynamic model and the expansion of sliding surfaces to include the constraint force error. The proposed sliding controller is explicit which ensures the occurrence of the sliding mode on the intersection of the surfaces. A detailed numerical example is presented to illustrate the developed method.

引用

页码：668 / 672

页数：5

共 12 条

[1]

KHOSLA P, 1985, P IEEE C DECISION CO

[2]

KODITSCHEK D, 1985, P IEEE C DECISION CO

[3]

LUI L, 1989, P IECON 89, P433

[4]

McClamroch N. H., 1985, Proceedings of the 1985 American Control Conference (Cat. No. 85CH2119-6), P50

[5] FEEDBACK STABILIZATION AND TRACKING OF CONSTRAINED ROBOTS [J].

MCCLAMROCH, NH ;

WANG, DW .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1988, 33 (05) :419-426

[6] FORCE AND POSITION CONTROL OF MANIPULATORS DURING CONSTRAINED MOTION TASKS [J].

MILLS, JK ;

GOLDENBERG, AA .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1989, 5 (01) :30-46

[7]

SLOTINE JJE, 1983, INT J CONTROL, V48, P465

[8]

Spong M. W., 2008, ROBOT DYNAMICS CONTR

[9]

SU CY, 1990, PROCEEDINGS OF THE 29TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-6, P2650, DOI 10.1109/CDC.1990.203470

[10]

UTKIN VI, 1987, SLIDING MODES THEIR, V1, P75

← 1 2 →