具有不确定模型的离散滑模控制应用于机械臂

Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02. Pub Date : 2002-11-09 DOI:10.1109/ROMOCO.2002.1177100

M. Hamerlain, S. Laghrouche, R. Benlamine

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引用次数: 2

摘要

讨论了具有不确定模型的两连杆刚性机器人的离散滑模控制问题。提出了离散滑模控制问题。给出了稳定性的充分必要条件和采样效应。离散控制器被证明可以导致一个稳定的闭环系统。仿真结果说明了该控制方案的特点。

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Discrete sliding mode control with uncertain modelling applied to robot manipulator

This paper discusses discrete sliding mode control for two-link rigid robotic manipulators with uncertain modelling. The discrete sliding mode control problem is formulated. Necessary and sufficient conditions of stability along with the effect of sampling are stated. The discrete controller is shown to lead to a stable closed-loop system. Simulation results are presented to illustrate the features of the control scheme.

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Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.

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