Adaptive second order sliding-mode control for rigid robots

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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 languageEnglish
Title of host publicationNOLCOS : Nonlinear Control Systems Design 1995 : a postprint volume from the 3rd IFAC symposium, Tahoe City, California, 25-28 June 1995. Vol. 2
EditorsA.J. Krener, D.Q. Mayne
Place of PublicationLondon
PublisherPergamon
Pages559-564
ISBN (Print)0-08-042371-X
Publication statusPublished - 1996

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