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Sliding mode robot control with friction and payload estimation

Márton, Lőrinc and Lantos, Béla (2004) Sliding mode robot control with friction and payload estimation. Journal of Advanced Computational Intelligence and Intelligent Informatics, 8 (5). pp. 553-561. ISSN 1343-0130

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Abstract

The paper deals with robust motion control of robotic systems with unknown friction parameters and payload mass. The parameters of the robot arm were considered known with a given precision. To solve the control of the robot with unknown payload mass and friction parameters, sliding mode control algorithm was proposed combined with robust parameter adaptation techniques. Using Lyapunov method it was shown that the resulting controller achieves a guaranteed final tracking accuracy. Simulation results are presented to illustrate the effectiveness and achievable control performance of the proposed scheme.

Item Type: Article
Subjects: T Technology / alkalmazott, műszaki tudományok > T2 Technology (General) / műszaki tudományok általában
T Technology / alkalmazott, műszaki tudományok > TA Engineering (General). Civil engineering (General) / általános mérnöki tudományok
T Technology / alkalmazott, műszaki tudományok > TJ Mechanical engineering and machinery / gépészmérnöki tudományok
T Technology / alkalmazott, műszaki tudományok > TK Electrical engineering. Electronics Nuclear engineering / elektrotechnika, elektronika, atomtechnika
Depositing User: Erika Bilicsi
Date Deposited: 26 Nov 2012 10:04
Last Modified: 26 Nov 2012 10:04
URI: http://real.mtak.hu/id/eprint/3455

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