Authors:
Youmin Hu
;
Jie Liu
;
Bo Wu
;
Kaibo Zhou
and
Mingfeng Ge
Affiliation:
Huazhong University of Science and Technology, China
Keyword(s):
Joint Position Tracking, Synchronized Control, Adaptive Sliding Mode Control, Robot Manipulator.
Related
Ontology
Subjects/Areas/Topics:
Adaptive Signal Processing and Control
;
Engineering Applications
;
Industrial Engineering
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Robot Design, Development and Control
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
;
Systems Modeling and Simulation
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.