Reference : Adaptive Sliding Mode Control of Switched Constrained Robotic Manipulators
Scientific congresses, symposiums and conference proceedings : Paper published in a book
Engineering, computing & technology : Mechanical engineering
http://hdl.handle.net/10993/7602
Adaptive Sliding Mode Control of Switched Constrained Robotic Manipulators
English
Jasim, Ibrahim mailto [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit >]
Plapper, Peter mailto [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit >]
Jul-2013
2013 IEEE International Conference on Industrial Informatics, Bochum 28-30 July 2013
IEEE
Yes
No
International
9781479907502
Piscataway
NJ
2013 IEEE International Conference on Industrial Informatics (INDIN 2013)
28-07-2013 to 30-07-2013
IEEE
Bochum
Germany
[en] Adaptive control ; Constrained motion ; Robotic systems ; Sliding mode control ; Switched systems
[en] In this paper, we address the control problem of a
constrained robotic manipulators with their constraints
continuously switched from one to another. Such a switching in
the constraints causes a switching function to be inserted in the
equation of the robot dynamics which may cause transient
instability for the overall system. Two robust control strategies
are presented in this paper to handle such switched robotic
systems. In the first strategy, we assume that the bounds of the
constraints are known. A sliding mode stabilizing controller is
developed that can guarantee global stable performance of the
given robotic system. In the second one, we relax the assumption
of knowing the constraints bounds through deriving update laws
for those bounds and new control actions that can guarantee
global stable performance under such switching constraints.
Simulation is performed for a two link robotic system having two
switching constraints. The results obtained from the simulation
verify the efficacy of the suggested control strategy.
Fonds National de la Recherche - FnR
R-AGR-0071 > PROBE > 01/01/2013 - 31/12/2015 > PLAPPER Peter
Researchers ; Professionals ; Students ; General public
http://hdl.handle.net/10993/7602
10.1109/INDIN.2013.6622900
FnR ; FNR2955286 > Ibrahim Jasim > > Self-adaptive Fuzzy Control for Robotic Peg-in-Hole Assembly Process > 01/05/2012 > 30/04/2016 > 2012

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