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 |
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Pages (from-to) | X4-80 |
Journal | Canadian Journal of Electrical and Computer Engineering |
Volume | 21 |
Issue number | 2 |
Publication status | Published - 1996 |
Externally published | Yes |
ASJC Scopus subject areas
- Hardware and Architecture
- Electrical and Electronic Engineering