Title :
Adaptive sliding mode control of belt driven prismatic manipulator
Author :
Tanaka, Maya ; Pan, Yaodong ; Furuta, Katsuhisa
Author_Institution :
Dept. of Comput. & Syst. Eng., Denki Univ., Saitama
Abstract :
This paper presents an adaptive controller for a new type prismatic manipulator. This adaptive controller is designed with the sliding mode, by which on-line parameters estimation mechanism is implemented and the control input is determined adaptively combining the estimation mechanism. The derivative of the signal is estimated by an adaptive VS-differentiator
Keywords :
adaptive control; belts; manipulator dynamics; parameter estimation; variable structure systems; adaptive sliding mode control; belt driven prismatic manipulator; controller design; online parameters estimation mechanism; Actuators; Adaptive control; Belts; Control systems; Friction; Linear feedback control systems; Nonlinear control systems; Parameter estimation; Programmable control; Sliding mode control;
Conference_Titel :
Variable Structure Systems, 2006. VSS'06. International Workshop on
Conference_Location :
Alghero, Sardinia
Print_ISBN :
1-4244-0208-5
DOI :
10.1109/VSS.2006.1644547
