A sliding mode control approach to robotic tracking problem

Chieh Li Chen; Chih Jer Lin

doi:10.3182/20020721-6-es-1901.01562

A sliding mode control approach to robotic tracking problem

Chieh Li Chen
, Chih Jer Lin

Graduate Institute of Automation Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Scopus citations

Abstract

In the conventional sliding mode control, a discontinuous switching control signal is applied. It makes the system invariant to parametric uncertainty and external disturbance, but also causes actuator chattering. This paper considers a tracking control of robot manipulators using a dynamic sliding mode control, where a global invariance is achieved and the resulting control signal is chattering free. The resulting performances are illustrated by its application to the tracking problem of robot manipulators.

Original language	English
Title of host publication	IFAC Proceedings Volumes (IFAC-PapersOnline)
Editors	Gabriel Ferrate, Eduardo F. Camacho, Luis Basanez, Juan. A. de la Puente
Publisher	IFAC Secretariat
Pages	55-59
Number of pages	5
Edition	1
ISBN (Print)	9783902661746
DOIs	https://doi.org/10.3182/20020721-6-es-1901.01562
State	Published - 2002
Event	15th World Congress of the International Federation of Automatic Control, 2002 - Barcelona, Spain Duration: 21 Jul 2002 → 26 Jul 2002

Publication series

Name	IFAC Proceedings Volumes (IFAC-PapersOnline)
Number	1
Volume	15
ISSN (Print)	1474-6670

Conference

Conference	15th World Congress of the International Federation of Automatic Control, 2002
Country/Territory	Spain
City	Barcelona
Period	21/07/02 → 26/07/02

Bibliographical note

Publisher Copyright:
Copyright © 2002 IFAC.

Keywords

Chattering
Invariance
Robot manipulator
Sliding mode control
Trajectory tracking problem

Access to Document

10.3182/20020721-6-es-1901.01562

Cite this

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title = "A sliding mode control approach to robotic tracking problem",

abstract = "In the conventional sliding mode control, a discontinuous switching control signal is applied. It makes the system invariant to parametric uncertainty and external disturbance, but also causes actuator chattering. This paper considers a tracking control of robot manipulators using a dynamic sliding mode control, where a global invariance is achieved and the resulting control signal is chattering free. The resulting performances are illustrated by its application to the tracking problem of robot manipulators.",

keywords = "Chattering, Invariance, Robot manipulator, Sliding mode control, Trajectory tracking problem",

author = "Chen, \{Chieh Li\} and Lin, \{Chih Jer\}",

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Chen, CL & Lin, CJ 2002, A sliding mode control approach to robotic tracking problem. in G Ferrate, EF Camacho, L Basanez & JA de la Puente (eds), IFAC Proceedings Volumes (IFAC-PapersOnline). 1 edn, IFAC Proceedings Volumes (IFAC-PapersOnline), no. 1, vol. 15, IFAC Secretariat, pp. 55-59, 15th World Congress of the International Federation of Automatic Control, 2002, Barcelona, Spain, 21/07/02. https://doi.org/10.3182/20020721-6-es-1901.01562

A sliding mode control approach to robotic tracking problem. / Chen, Chieh Li; Lin, Chih Jer.
IFAC Proceedings Volumes (IFAC-PapersOnline). ed. / Gabriel Ferrate; Eduardo F. Camacho; Luis Basanez; Juan. A. de la Puente. 1. ed. IFAC Secretariat, 2002. p. 55-59 (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 15, No. 1).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - In the conventional sliding mode control, a discontinuous switching control signal is applied. It makes the system invariant to parametric uncertainty and external disturbance, but also causes actuator chattering. This paper considers a tracking control of robot manipulators using a dynamic sliding mode control, where a global invariance is achieved and the resulting control signal is chattering free. The resulting performances are illustrated by its application to the tracking problem of robot manipulators.

KW - Chattering

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KW - Trajectory tracking problem

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A sliding mode control approach to robotic tracking problem

Abstract

Publication series

Conference

Bibliographical note

Keywords

Access to Document

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Cite this