ISSN:
1573-8450
Keywords:
second-order sliding-mode control
;
multi-input second-order sliding-mode control
;
mechanical systems
;
constrained manipulators
Source:
Springer Online Journal Archives 1860-2000
Topics:
Electrical Engineering, Measurement and Control Technology
Notes:
Abstract This paper deals withthe hybrid position/force control of constrainedmanipulators subjected to uncertainties. A solution is proposedthat is based on sliding-mode control theory, which proved tobe highly effective in counteracting uncertainties for some classesof nonlinear systems. Specific problems involved in this techniqueare chattering elimination and the algebraic coupling betweenconstraint forces and possibly discontinuous control signals.Both the problems are addressed in this paper by exploiting therobustness properties of a second-order sliding-mode controlalgorithm. This algorithm, recently proposed by the authors forsolving the single-input hybrid control problem, is generalizedin this paper to deal with the class of multi-input differentialalgebraic systems describing the behaviour of constrained mechanicalsystems.
Type of Medium:
Electronic Resource
URL:
http://dx.doi.org/10.1023/A:1008318928840
