Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Integral Sliding Mode Control for Robot Manipulators

로봇 매니퓰레이터를 위한 적분 슬라이딩 모드 제어

  • 유동상 (한경대학교 전기공학과, 전자기술종합연구소)
  • Published : 2008.12.01
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Abstract

We propose an integral sliding mode control for robot manipulators guaranteeing that sliding motion exists starting from an initial time. Also, we prove the asymptotic stability for robot manipulators using three important properties in the robot dynamics: skew-symmetry, positive-definiteness, and boundedness of robot parameter matrices. From illustrative examples, we show that the proposed method effectively controls for robot manipulators.

Keywords

References

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