DocumentCode
2087890
Title
Trajectory control of manipulators using adaptive sliding mode control
Author
Park, J.S. ; Jiang, Y.A. ; Hesketh, T. ; Clements, D.J.
Author_Institution
Sch. of Electr. Eng., New South Wales Univ., Kensington, NSW, Australia
fYear
1994
fDate
10-13 Apr 1994
Firstpage
142
Lastpage
146
Abstract
Considers an adaptive control algorithm for robot manipulators. The presented algorithm uses an adaptive sliding mode control law to ensure robustness. The proposed algorithms eliminate the requirement for inversion of the inertia matrix, the requirement for measurement of joint acceleration, and the requirement for calculation of a regressor. Computer simulation results show good properties of the proposed algorithm under large manipulator parameter uncertainties and disturbances
Keywords
adaptive control; manipulators; position control; stability; variable structure systems; adaptive sliding mode control; computer simulation; disturbances; parameter uncertainties; robot manipulators; robustness; trajectory control; Acceleration; Accelerometers; Adaptive control; Computer simulation; Manipulators; Programmable control; Robots; Robust control; Sliding mode control; Uncertain systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Southeastcon '94. Creative Technology Transfer - A Global Affair., Proceedings of the 1994 IEEE
Conference_Location
Miami, FL
Print_ISBN
0-7803-1797-1
Type
conf
DOI
10.1109/SECON.1994.324285
Filename
324285
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