Simple sliding mode control scheme applied to robot manipulators
- 1 April 1987
- journal article
- research article
- Published by Taylor & Francis in International Journal of Control
- Vol. 45 (4) , 1197-1209
- https://doi.org/10.1080/00207178708933801
Abstract
We present a simple sliding mode control scheme for robot manipulators that does not rely upon the construction of individually stable discontinuity surfaces, thus greatly reducing the complexity of design. We utilize the structure of the manipulator dynamics and Lyapunov's second method in order to establish a sliding surface on the intersection of the switching surfaces in a direct manner. A simple numerical example accompanies the theoretical development.Keywords
This publication has 4 references indexed in Scilit:
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- Tracking control of non-linear systems using sliding surfaces, with application to robot manipulators†International Journal of Control, 1983
- Controller Design for a Manipulator Using Theory of Variable Structure SystemsIEEE Transactions on Systems, Man, and Cybernetics, 1978
- Variable structure systems with sliding modesIEEE Transactions on Automatic Control, 1977