An Adaptive Sliding Mode Controller for Synchronized Joint Position Tracking Control of Robot Manipulators

Youmin Hu, Jie Liu, Bo Wu, Kaibo Zhou, Mingfeng Ge

Abstract

A novel adaptive sliding mode control algorithm is derived to deal with synchronized joint position tracking control of robot manipulators. The proposed algorithm does not require the precise dynamic model, and is very practical. The cross-coupled technology is incorporated into the adaptive sliding mode control architecture through feedback of joint position errors and synchronization errors. Its robustness is verified by the Lyapunov stability theory. Simulation results obtained from a 3-link non-linear planer robot manipulator demonstrate the effectiveness of the approach under various disturbances.

References

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Paper Citation


in Harvard Style

Hu Y., Liu J., Wu B., Zhou K. and Ge M. (2015). An Adaptive Sliding Mode Controller for Synchronized Joint Position Tracking Control of Robot Manipulators . In Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-123-6, pages 239-245. DOI: 10.5220/0005524502390245


in Bibtex Style

@conference{icinco15,
author={Youmin Hu and Jie Liu and Bo Wu and Kaibo Zhou and Mingfeng Ge},
title={An Adaptive Sliding Mode Controller for Synchronized Joint Position Tracking Control of Robot Manipulators},
booktitle={Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2015},
pages={239-245},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005524502390245},
isbn={978-989-758-123-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - An Adaptive Sliding Mode Controller for Synchronized Joint Position Tracking Control of Robot Manipulators
SN - 978-989-758-123-6
AU - Hu Y.
AU - Liu J.
AU - Wu B.
AU - Zhou K.
AU - Ge M.
PY - 2015
SP - 239
EP - 245
DO - 10.5220/0005524502390245