Sliding mode control of robotic arms with deadzone

被引：42
作者：
de Jesus Rubio, Jose [1 ]
机构：
[1] Inst Politecn Nacl, ESIME Azcapotzalco, Secc Estudios Posgrad & Invest, Ave Granjas 682, Mexico City 02250, DF, Mexico
来源：
IET CONTROL THEORY AND APPLICATIONS | 2017年 / 11卷 / 08期
关键词：
variable structure systems; robots; control system synthesis; asymptotic stability; Lyapunov methods; robotic arms; deadzone; sliding mode controller design; gravity; sliding mode strategy; Lyapunov technique; FAULT-TOLERANT CONTROL; TRACKING CONTROL; STOCHASTIC-SYSTEMS; NONLINEAR-SYSTEMS; DESIGN;
D O I：
10.1049/iet-cta.2016.0306
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this study, a sliding mode controller is designed for the regulation of robotic arms with unknown behaviours in the deadzone and gravity. The sliding mode strategy is employed to compensate the unknown behaviours. Furthermore, the asymptotic stability of the controller is guaranteed by the Lyapunov technique. The application in two robotic arms shows the effectiveness of the proposed technique.
引用
收藏
页码：1214 / 1221
页数：8
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