DocumentCode
1388951
Title
Comments on "Sliding-mode motion/force control of constrained robots
Author
Dixon, W.E. ; Zergerogin, E.
Author_Institution
Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA
Volume
45
Issue
8
fYear
2000
Firstpage
1576
Lastpage
1577
Abstract
In the above paper by Lian and Lin (ibid. vol.43(8) (1998)) the authors claim their control law ensures the motion and force errors are asymptotically driven to zero and that the actual forces will asymptotically approach the desired forces. However, the commenters point out that the authors´ claim is invalid due to an error in the sliding-mode control stability analysis. Specific details of the errors are given.
Keywords
asymptotic stability; force control; motion control; robot dynamics; variable structure systems; asymptotic stability; constrained robots; force control; motion control; sliding-mode control; Differential equations; Error correction; Force control; Jacobian matrices; Mathematics; Motion analysis; Robots; Sliding mode control; Stability analysis; Transfer functions;
fLanguage
English
Journal_Title
Automatic Control, IEEE Transactions on
Publisher
ieee
ISSN
0018-9286
Type
jour
DOI
10.1109/9.871777
Filename
871777
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