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Discrete time sliding mode control of robotic manipulators: Development and experimental validation
- Source :
-
Control Engineering Practice . Aug2012, Vol. 20 Issue 8, p816-822. 7p. - Publication Year :
- 2012
-
Abstract
- Abstract: This paper presents a robust discrete-time sliding mode control coupled with an uncertainty estimator designed for planar robotic manipulators. Experimental evidence shows satisfactory trajectory tracking performances and noticeable robustness in the presence of model inaccuracies, disturbances and payload perturbations. Ultimate boundedness of the tracking errors is proved, as well as boundedness of the estimation error with arbitrary precision. [Copyright &y& Elsevier]
Details
- Language :
- English
- ISSN :
- 09670661
- Volume :
- 20
- Issue :
- 8
- Database :
- Academic Search Index
- Journal :
- Control Engineering Practice
- Publication Type :
- Academic Journal
- Accession number :
- 76466403
- Full Text :
- https://doi.org/10.1016/j.conengprac.2012.04.005