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

自動化科技研究所

研究成果: 書籍/報告/會議論文中的章節 › 會議投稿 › 同行評審

4 引文斯高帕斯（Scopus）

摘要

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.

原文	English
主出版物標題	IFAC Proceedings Volumes (IFAC-PapersOnline)
編輯	Gabriel Ferrate, Eduardo F. Camacho, Luis Basanez, Juan. A. de la Puente
發行者	IFAC Secretariat
頁面	55-59
頁數	5
版本	1
ISBN（列印）	9783902661746
DOIs	https://doi.org/10.3182/20020721-6-es-1901.01562
出版狀態	Published - 2002
事件	15th World Congress of the International Federation of Automatic Control, 2002 - Barcelona, Spain 持續時間: 21 7月 2002 → 26 7月 2002

出版系列

名字	IFAC Proceedings Volumes (IFAC-PapersOnline)
號碼	1
卷	15
ISSN（列印）	1474-6670

Conference

Conference	15th World Congress of the International Federation of Automatic Control, 2002
國家/地區	Spain
城市	Barcelona
期間	21/07/02 → 26/07/02

文獻附註

Publisher Copyright:
Copyright © 2002 IFAC.

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10.3182/20020721-6-es-1901.01562

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Link to publication in Scopus

引用此

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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\}",

note = "Publisher Copyright: Copyright {\textcopyright} 2002 IFAC.; 15th World Congress of the International Federation of Automatic Control, 2002 ; Conference date: 21-07-2002 Through 26-07-2002",

year = "2002",

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editor = "Gabriel Ferrate and Camacho, \{Eduardo F.\} and Luis Basanez and \{de la Puente\}, \{Juan. A.\}",

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Chen, CL & Lin, CJ 2002, A sliding mode control approach to robotic tracking problem. 於 G Ferrate, EF Camacho, L Basanez & JA de la Puente (編輯), IFAC Proceedings Volumes (IFAC-PapersOnline). 1 edn, IFAC Proceedings Volumes (IFAC-PapersOnline), 編號 1, 卷 15, IFAC Secretariat, 頁 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). 編輯 / Gabriel Ferrate; Eduardo F. Camacho; Luis Basanez; Juan. A. de la Puente. 1. 編輯 IFAC Secretariat, 2002. p. 55-59 (IFAC Proceedings Volumes (IFAC-PapersOnline); 卷 15, 編號 1).

研究成果: 書籍/報告/會議論文中的章節 › 會議投稿 › 同行評審

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AU - Lin, Chih Jer

PY - 2002

Y1 - 2002

N2 - 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.

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

KW - Invariance

KW - Robot manipulator

KW - Sliding mode control

KW - Trajectory tracking problem

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BT - IFAC Proceedings Volumes (IFAC-PapersOnline)

A2 - Ferrate, Gabriel

A2 - Camacho, Eduardo F.

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PB - IFAC Secretariat

T2 - 15th World Congress of the International Federation of Automatic Control, 2002

Y2 - 21 July 2002 through 26 July 2002

ER -

A sliding mode control approach to robotic tracking problem

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