Total sliding mode trajectory control of robotic manipulators

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

Total sliding mode trajectory control of robotic manipulators

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

電機工程學系

研究成果: 會議貢獻類型 › 會議論文 › 同行評審

5 引文斯高帕斯（Scopus）

摘要

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.

原文	???core.languages.en_GB???
頁面	1062-1066
頁數	5
出版狀態	已出版 - 1999
事件	The 25th Annual Conference of the IEEE Industrial Electronics Society (IECON'99) - San Jose, CA, USA 持續時間: 29 11月 1999 → 3 12月 1999

???event.eventtypes.event.conference???

???event.eventtypes.event.conference???	The 25th Annual Conference of the IEEE Industrial Electronics Society (IECON'99)
城市	San Jose, CA, USA
期間	29/11/99 → 3/12/99

引用此

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title = "Total sliding mode trajectory control of robotic manipulators",

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.",

author = "Shyu, {Kuo Kai} and Hung, {John Y.} and Hung, {James C.}",

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T1 - Total sliding mode trajectory control of robotic manipulators

AU - Shyu, Kuo Kai

AU - Hung, John Y.

AU - Hung, James C.

PY - 1999

Y1 - 1999

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AB - 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.

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T2 - The 25th Annual Conference of the IEEE Industrial Electronics Society (IECON'99)

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Total sliding mode trajectory control of robotic manipulators

摘要

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指紋

引用此