This paper presents a robust discrete-time sliding mode control coupled with an uncertainty estimator designed for planar robotic manipulators. Experimental evidence shows satisfactory trajectory tracking performances and noticeable robustness in the presence of model inaccuracies, disturbances and payload perturbations. Ultimate boundedness of the tracking errors is proved, as well as boundedness of the estimation error with arbitrary precision. © 2012 Elsevier Ltd.
Discrete time sliding mode control of robotic manipulators: Development and experimental validation / Corradini, Maria Letizia; Fossi, Valentino; Giantomassi, Andrea; Ippoliti, Gianluca; Longhi, Sauro; Orlando, Giuseppe. - In: CONTROL ENGINEERING PRACTICE. - ISSN 0967-0661. - 20:8(2012), pp. 816-822. [10.1016/j.conengprac.2012.04.005]
Discrete time sliding mode control of robotic manipulators: Development and experimental validation
GIANTOMASSI, ANDREA;IPPOLITI, Gianluca;LONGHI, SAURO;ORLANDO, Giuseppe
2012-01-01
Abstract
This paper presents a robust discrete-time sliding mode control coupled with an uncertainty estimator designed for planar robotic manipulators. Experimental evidence shows satisfactory trajectory tracking performances and noticeable robustness in the presence of model inaccuracies, disturbances and payload perturbations. Ultimate boundedness of the tracking errors is proved, as well as boundedness of the estimation error with arbitrary precision. © 2012 Elsevier Ltd.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
