Adaptive sliding mode control for manipulating deformable linear object with input saturation

Manipulating deformable linear objects (DLOs) is much challengeable as the uncertainty resulting from oscillation of DLOs may cause failure in the operation. In this paper, we proposed a position-based control strategy to eliminate the vibration at the end of DLOs. The simplified dynamic model of a DLO is obtained by local linearization, Schur decomposition of matrices and linear transform of variable. Based on the dynamic model, an adaptive law is applied to estimate the uncertain parameters, and a sliding mode controller considering the position constraint condition is designed to force the state variables converging to the equilibrium. The effectiveness of proposed control strategies are verified by numerical simulations.