Discrete time sliding mode control of robotic manipulators: Development and experimental validation

Author

Fossi, Valentino ; Giantomassi, Andrea ; Ippoliti, Gianluca ; Longhi, Sauro ; Orlando, Giuseppe ; Corradini, Maria Letizia

Author_Institution

Dipt. di Ing. Inf., Gestionale e dell´´Autom., Univ. Politec. delle Marche, Ancona, Italy

fYear

2011

fDate

5-9 Sept. 2011

Firstpage

1

Lastpage

8

Abstract

This paper presents a discrete-time sliding mode control based on prediction compensation of uncertainties for planar robotic manipulators. Autoregressive models, identified on-line by Kalman Filters, are used to learn about uncertainties affecting the system. The analysis of the control stability is given and the controller is evaluated on the ERICC robot arm. Experiments show that the proposed controller produces good trajectory tracking performance and it is robust in the presence of model inaccuracies.

Keywords

Kalman filters; autoregressive processes; discrete time systems; manipulators; position control; stability; uncertain systems; variable structure systems; ERICC robot arm; Kalman filter; autoregressive model; control stability; discrete time control; planar robotic manipulator; prediction compensation; sliding mode control; trajectory tracking; Estimation; Joints; Manipulator dynamics; Trajectory; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Emerging Technologies & Factory Automation (ETFA), 2011 IEEE 16th Conference on

Conference_Location

Toulouse

ISSN

1946-0740

Print_ISBN

978-1-4577-0017-0

Electronic_ISBN

1946-0740

Type

conf

DOI

10.1109/ETFA.2011.6059070

Filename

6059070