Adaptive second order sliding-mode control for rigid robots

A.G. Jager, de

Adaptive second order sliding-mode control for rigid robots

A.G. Jager, de

Control Systems Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic

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Abstract

A novel robot controller is proposed, borrowing ideas from sliding mode and adaptive control. It is a mix between a computed torque and a passivity based controller and uses a second order measure of tracking accuracy. The paper provides ample evidence, by convergence analysis, simulations, and experiments, that the new controller will function well in practice. Based on the results, the controller seems to be a welcome addition to the class of tracking controllers for rigid robots with significant parameter uncertainty

Original language	English
Title of host publication	NOLCOS : Nonlinear Control Systems Design 1995 : a postprint volume from the 3rd IFAC symposium, Tahoe City, California, 25-28 June 1995. Vol. 2
Editors	A.J. Krener, D.Q. Mayne
Place of Publication	London
Publisher	Pergamon
Pages	559-564
ISBN (Print)	0-08-042371-X
Publication status	Published - 1996

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title = "Adaptive second order sliding-mode control for rigid robots",

abstract = "A novel robot controller is proposed, borrowing ideas from sliding mode and adaptive control. It is a mix between a computed torque and a passivity based controller and uses a second order measure of tracking accuracy. The paper provides ample evidence, by convergence analysis, simulations, and experiments, that the new controller will function well in practice. Based on the results, the controller seems to be a welcome addition to the class of tracking controllers for rigid robots with significant parameter uncertainty",

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publisher = "Pergamon",

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Adaptive second order sliding-mode control for rigid robots. / Jager, de, A.G.

NOLCOS : Nonlinear Control Systems Design 1995 : a postprint volume from the 3rd IFAC symposium, Tahoe City, California, 25-28 June 1995. Vol. 2 . ed. / A.J. Krener; D.Q. Mayne. London : Pergamon, 1996. p. 559-564.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic

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T1 - Adaptive second order sliding-mode control for rigid robots

AU - Jager, de, A.G.

PY - 1996

Y1 - 1996

N2 - A novel robot controller is proposed, borrowing ideas from sliding mode and adaptive control. It is a mix between a computed torque and a passivity based controller and uses a second order measure of tracking accuracy. The paper provides ample evidence, by convergence analysis, simulations, and experiments, that the new controller will function well in practice. Based on the results, the controller seems to be a welcome addition to the class of tracking controllers for rigid robots with significant parameter uncertainty

AB - A novel robot controller is proposed, borrowing ideas from sliding mode and adaptive control. It is a mix between a computed torque and a passivity based controller and uses a second order measure of tracking accuracy. The paper provides ample evidence, by convergence analysis, simulations, and experiments, that the new controller will function well in practice. Based on the results, the controller seems to be a welcome addition to the class of tracking controllers for rigid robots with significant parameter uncertainty

M3 - Conference contribution

SN - 0-08-042371-X

SP - 559

EP - 564

BT - NOLCOS : Nonlinear Control Systems Design 1995 : a postprint volume from the 3rd IFAC symposium, Tahoe City, California, 25-28 June 1995. Vol. 2

A2 - Krener, A.J.

A2 - Mayne, D.Q.

PB - Pergamon

CY - London

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