Discrete-Time Sliding Mode Control for Robot Manipulators
نویسندگان
چکیده
منابع مشابه
Discrete-time based sliding-mode control of robot manipulators
Purpose – The purpose of this paper is to develop sliding mode control with linear and nonlinear manifolds in discrete-time domain for robot manipulators. Design/methodology/approach – First, a discrete linear sliding mode controller is designed to an n-link robot based on Gao’s reaching law. In the second step, a discrete terminal sliding mode controller is developed to design a finite time an...
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Abstract This paper studies the robust optimal control problem for robot tracking system. An optimal sliding mode control law is designed to solve this problem. Integral sliding mode control is employed to combine the first-order sliding mode with optimal control approach and is applied to robust control of robot manipulators. For the optimal control part, the Lyapunov optimizing control method...
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ژورنال
عنوان ژورنال: Journal of the Korea Industrial Information Systems Research
سال: 2011
ISSN: 1229-3741
DOI: 10.9723/jksiis.2011.16.4.045