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  Robust control of robotic manipulators based on integral sliding mode

Shi, J., Liu, H., & Bajcinca, N. (2008). Robust control of robotic manipulators based on integral sliding mode. International Journal of Control, 81(10), 1537-1548. doi:10.1080/00207170701749881.

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Item Permalink: http://hdl.handle.net/11858/00-001M-0000-0013-969E-7 Version Permalink: http://hdl.handle.net/11858/00-001M-0000-0018-7F19-E
Genre: Journal Article

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 Creators:
Shi, J.1, Author
Liu, H.1, Author
Bajcinca, N.2, Author              
Affiliations:
1HIT, Inst Robot, Harbin, Hilongjian Prov Peoples R ChinaDLR Oberpfaffenhofen, German Aerosp Ctr, Inst Robot, Oberpfaffenhofen, Germany, ou_persistent22              
2Systems and Control Theory, Max Planck Institute for Dynamics of Complex Technical Systems, Max Planck Society, ou_1738154              

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Free keywords: UNCERTAIN SYSTEMS; DESIGN
 Abstract: For rigid body robot manipulators, the computed torque approach provides asymptotic stability for tracking control tasks. However, the state dependent matrices needed to complete the computed torque algorithm are normally unknown and possibly too complex for a real-time implementation. This paper proposes a simple controller with computed-torque-like structure enhanced by integral sliding mode, having pole-placement capability. For the reduction of the chattering effect generated by the sliding mode part, the integral sliding mode is posed as a perturbation estimator with quasi-continuous control action provided by an additional low-pass filter. The time-constant of the latter tunes the controller functionality between the perturbation compensation and a pure integral sliding mode control, as well as between chattering reduction and system robustness. A comparative simulation study between conventional sliding mode control, integral sliding mode control, and integral sliding mode in form of a perturbation estimator for a two-link robot arm validates the proposed design. copyright 2008 Taylor & Francis [accessed 2014 April 1st]

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Language(s): eng - English
 Dates: 2008
 Publication Status: Published in print
 Pages: -
 Publishing info: -
 Table of Contents: -
 Rev. Method: Peer
 Identifiers: eDoc: 391206
DOI: 10.1080/00207170701749881
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Title: International Journal of Control
Source Genre: Journal
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Pages: - Volume / Issue: 81 (10) Sequence Number: - Start / End Page: 1537 - 1548 Identifier: -