Data-driven model predictive control for trajectory tracking with a robotic arm
High-precision trajectory tracking is fundamental in robotic manipulation. While industrial
robots address this through stiffness and high-performance hardware, compliant and cost …
robots address this through stiffness and high-performance hardware, compliant and cost …
Variable structure control: A survey
JY Hung, W Gao, JC Hung - IEEE transactions on industrial …, 1993 - ieeexplore.ieee.org
A tutorial account of variable structure control with sliding mode is presented. The purpose is
to introduce in a concise manner the fundamental theory, main results, and practical …
to introduce in a concise manner the fundamental theory, main results, and practical …
Sliding mode control design principles and applications to electric drives
VI Utkin - IEEE transactions on industrial electronics, 1993 - ieeexplore.ieee.org
The basic concepts, mathematics, and design aspects of variable-structure systems as well
as those with sliding modes as a principle operation mode are treated. The main arguments …
as those with sliding modes as a principle operation mode are treated. The main arguments …
A control engineer's guide to sliding mode control
Presents a guide to sliding mode control for practicing control engineers. It offers an
accurate assessment of the so-called chattering phenomenon, catalogs implementable …
accurate assessment of the so-called chattering phenomenon, catalogs implementable …
On the adaptive control of robot manipulators
JJE Slotine, W Li - The international journal of robotics …, 1987 - journals.sagepub.com
A new adaptive robot control algorithm is derived, which consists of a PD feedback part and
a full dynamics feedfor ward compensation part, with the unknown manipulator and payload …
a full dynamics feedfor ward compensation part, with the unknown manipulator and payload …
Variable structure control of nonlinear systems: A new approach
W Gao, JC Hung - IEEE transactions on Industrial Electronics, 1993 - ieeexplore.ieee.org
A new approach for the design of variable structure control (VSC) of nonlinear systems is
presented. It is based on a new method called the reaching law method, and is …
presented. It is based on a new method called the reaching law method, and is …
Variable structure control of nonlinear multivariable systems: a tutorial
RA DeCarlo, SH Zak, GP Matthews - Proceedings of the IEEE, 1988 - ieeexplore.ieee.org
The design of variable-structure control (VSC) systems for a class of multivariable, nonlinear,
time-varying systems is presented. Using the Utkin-Drazenovic method of equivalent control …
time-varying systems is presented. Using the Utkin-Drazenovic method of equivalent control …
Adaptive second-order fast nonsingular terminal sliding mode control for robotic manipulators
S Yi, J Zhai - ISA transactions, 2019 - Elsevier
This paper presents an adaptive chattering-free sliding mode controller for trajectory tracking
of robotic manipulators in the presence of external disturbances and inertia uncertainties. To …
of robotic manipulators in the presence of external disturbances and inertia uncertainties. To …
A new second-order sliding mode and its application to nonlinear constrained systems
This note considers the second-order sliding-mode (SOSM) control of nonlinear constrained
systems. A new state-saturated-like SOSM algorithm has been constructed by using the …
systems. A new state-saturated-like SOSM algorithm has been constructed by using the …
A robust MIMO terminal sliding mode control scheme for rigid robotic manipulators
In this paper, a robust multi-input/multi-output (MIMO) terminal sliding mode control
technique is developed for n-link rigid robotic manipulators. It is shown that an MIMO …
technique is developed for n-link rigid robotic manipulators. It is shown that an MIMO …