Abstract
This paper deals with the sliding-mode position/force control of constrained-manipulator systems, in which the constraints are supposed to be holonomic. An adaptive version of the controller is used for an on-line estimation of the unknown parameters. Because of this, no a priori knowledge of the bounds of unknown parameters is required. The algorithm guarantees asymptotic stability of the global system, a zero tracking error for both position and force vectors and robustness against parameter uncertainties and external disturbances. If the model of the system is well-known, force feedback is not necessary to achieve zero-error force convergence. Through a small modification of the control law, the chattering phenomenon associated with the torques applied to joints is avoided.
| Original language | English |
|---|---|
| Pages (from-to) | 73-80 |
| Number of pages | 8 |
| Journal | Canadian Journal of Electrical and Computer Engineering |
| Volume | 21 |
| Issue number | 2 |
| Publication status | Published - Apr 1996 |
Fingerprint
ASJC Scopus subject areas
- Hardware and Architecture
- Electrical and Electronic Engineering
Cite this
Adaptive sliding-mode approach for force/motion control of manipulators under holonomic constraints. / Mnif, F.; Saad, M.; Boukas, E. K.
In: Canadian Journal of Electrical and Computer Engineering, Vol. 21, No. 2, 04.1996, p. 73-80.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Adaptive sliding-mode approach for force/motion control of manipulators under holonomic constraints
AU - Mnif, F.
AU - Saad, M.
AU - Boukas, E. K.
PY - 1996/4
Y1 - 1996/4
N2 - This paper deals with the sliding-mode position/force control of constrained-manipulator systems, in which the constraints are supposed to be holonomic. An adaptive version of the controller is used for an on-line estimation of the unknown parameters. Because of this, no a priori knowledge of the bounds of unknown parameters is required. The algorithm guarantees asymptotic stability of the global system, a zero tracking error for both position and force vectors and robustness against parameter uncertainties and external disturbances. If the model of the system is well-known, force feedback is not necessary to achieve zero-error force convergence. Through a small modification of the control law, the chattering phenomenon associated with the torques applied to joints is avoided.
AB - This paper deals with the sliding-mode position/force control of constrained-manipulator systems, in which the constraints are supposed to be holonomic. An adaptive version of the controller is used for an on-line estimation of the unknown parameters. Because of this, no a priori knowledge of the bounds of unknown parameters is required. The algorithm guarantees asymptotic stability of the global system, a zero tracking error for both position and force vectors and robustness against parameter uncertainties and external disturbances. If the model of the system is well-known, force feedback is not necessary to achieve zero-error force convergence. Through a small modification of the control law, the chattering phenomenon associated with the torques applied to joints is avoided.
UR - http://www.scopus.com/inward/record.url?scp=0030123690&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0030123690&partnerID=8YFLogxK
M3 - Article
VL - 21
SP - 73
EP - 80
JO - Canadian Journal of Electrical and Computer Engineering
JF - Canadian Journal of Electrical and Computer Engineering
SN - 0840-8688
IS - 2
ER -