An adaptive sliding-mode approach for force/motion control of manipulators under holonomic constraints

F. Mnif, M. Saad, E. K. Boukas

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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 languageEnglish
JournalCanadian Journal of Electrical and Computer Engineering
Issue number2
Publication statusPublished - 1996


ASJC Scopus subject areas

  • Hardware and Architecture
  • Electrical and Electronic Engineering

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