Discrete sliding mode control with uncertain modelling applied to robot manipulator

被引：2

作者：

Hamerlain, M ^{[1
]}

Laghrouche, S ^{[1
]}

Benlamine, R ^{[1
]}

机构：

[1] CDTA, LRIA, Haouch Oukil, Algiers 16303, Algeria

来源：

ROMOCO'02: PROCEEDINGS OF THE THIRD INTERNATIONAL WORKSHOP ON ROBOT MOTION AND CONTROL | 2002年

关键词：

Discrete Sliding Mode Control (DSMC); robot manipulators; simplified model; tracking trajectory;

D O I：

10.1109/ROMOCO.2002.1177100

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents the 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.

引用

页码：147 / 151

页数：5

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