Total sliding mode trajectory control of robotic manipulators

Kuo Kai Shyu, John Y. Hung, James C. Hung

Research output: Contribution to conferencePaperpeer-review

5 Scopus citations

Abstract

This paper presents a new trajectory control of robotic manipulators using variable structure control with sliding mode. The proposed control method totally eliminates the reaching phase of the prior variable structure control methods, in which the robot trajectory is affected by the uncertainties and disturbances. Therefore, a total sliding motion of the robot dynamics is guaranteed, which provides the invariance property for the entire robot dynamics. In other words, the desired performance designed on the nominal parts of the robot model can be exactly assured, even though the robot system is subject to uncertainties and disturbances.

Original languageEnglish
Pages1062-1066
Number of pages5
StatePublished - 1999
EventThe 25th Annual Conference of the IEEE Industrial Electronics Society (IECON'99) - San Jose, CA, USA
Duration: 29 Nov 19993 Dec 1999

Conference

ConferenceThe 25th Annual Conference of the IEEE Industrial Electronics Society (IECON'99)
CitySan Jose, CA, USA
Period29/11/993/12/99

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