A sliding mode control approach to robotic tracking problem

Chieh Li Chen; Chih Jer Lin

A sliding mode control approach to robotic tracking problem

Research output: Contribution to journal › Conference article › peer-review

Abstract

In the conventional sliding mode control, a discontinuous switching control signal is applied. It makes the system invariant to parametric uncertainty and external disturbance, but also causes actuator chattering. This paper considers a tracking control of robot manipulators using a dynamic sliding mode control, where a global invariance is achieved and the resulting control signal is chattering free. The resulting performances are illustrated by its application to the tracking problem of robot manipulators.

Original language	English
Pages (from-to)	55-59
Number of pages	5
Journal	IFAC Proceedings Volumes (IFAC-PapersOnline)
Volume	15
Issue number	1
Publication status	Published - 2002 Jan 1
Event	15th World Congress of the International Federation of Automatic Control, 2002 - Barcelona, Spain Duration: 2002 Jul 21 → 2002 Jul 26

All Science Journal Classification (ASJC) codes

Control and Systems Engineering

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title = "A sliding mode control approach to robotic tracking problem",

abstract = "In the conventional sliding mode control, a discontinuous switching control signal is applied. It makes the system invariant to parametric uncertainty and external disturbance, but also causes actuator chattering. This paper considers a tracking control of robot manipulators using a dynamic sliding mode control, where a global invariance is achieved and the resulting control signal is chattering free. The resulting performances are illustrated by its application to the tracking problem of robot manipulators.",

author = "Chen, {Chieh Li} and Lin, {Chih Jer}",

year = "2002",

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AU - Lin, Chih Jer

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AB - In the conventional sliding mode control, a discontinuous switching control signal is applied. It makes the system invariant to parametric uncertainty and external disturbance, but also causes actuator chattering. This paper considers a tracking control of robot manipulators using a dynamic sliding mode control, where a global invariance is achieved and the resulting control signal is chattering free. The resulting performances are illustrated by its application to the tracking problem of robot manipulators.

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T2 - 15th World Congress of the International Federation of Automatic Control, 2002

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