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Robust adaptive sliding mode control with modified regressor matrix and composite adaptation for robotic manipulators

Citation

Chong, S and Yu, X and Man, Z, Robust adaptive sliding mode control with modified regressor matrix and composite adaptation for robotic manipulators, Advanced Robotics, 12, (1) pp. 53-66. ISSN 0169-1864 (1998) [Refereed Article]

DOI: doi:10.1163/156855398X00046

Abstract

A robust adaptive sliding mode controller is proposed in this paper for trajectory tracking in rigid robotic manipulators. This controller contains two components: one is for estimation of the constant part of system parameters and the other for suppression of the uncertainty part of system parameters. With a mild assumption, the proposed controller enables the desired trajectory to be tracked. In order to further enhance the performance of the controller, the regressor matrix is modified and composite adaptation is incorporated so that the acceleration signals are not required for control. Simulations are presented to show the effectiveness of the approach.

Item Details

Item Type:Refereed Article
Research Division:Engineering
Research Group:Electrical and Electronic Engineering
Research Field:Control Systems, Robotics and Automation
Objective Division:Manufacturing
Objective Group:Computer Hardware and Electronic Equipment
Objective Field:Integrated Systems
Author:Man, Z (Dr Zhihong Man)
ID Code:15251
Year Published:1998
Deposited By:Electrical Engineering
Deposited On:1998-08-01
Last Modified:2011-08-10
Downloads:0

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