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Model-independent position domain sliding mode control for contour tracking of robotic manipulator

Author

Listed:
  • W. H. Yue
  • V. Pano
  • P. R. Ouyang
  • Y. Q. Hu

Abstract

In this paper, a new position domain feedback type sliding mode control (PDC-SMC) law is proposed for contour tracking control of multi-DOF (degree of freedom) nonlinear robotic manipulators focusing on the improvement of contour tracking performances. One feature of the proposed control law is its model-independent control scheme that can avoid calculation of the feedforward part in a standard SMC. The new control law takes the advantages of the high contour tracking performance of PD type feedback position domain control (PDC) and the robustness of SMC. Stability analysis is performed using the Lyapunov stability theory, and simulation studies are conducted to verify the effectiveness of the developed PDC-SMC control system. In addition, the effects of control parameters of the SMC on system performances are studied.

Suggested Citation

  • W. H. Yue & V. Pano & P. R. Ouyang & Y. Q. Hu, 2017. "Model-independent position domain sliding mode control for contour tracking of robotic manipulator," International Journal of Systems Science, Taylor & Francis Journals, vol. 48(1), pages 190-199, January.
    • Handle: RePEc:taf:tsysxx:v:48:y:2017:i:1:p:190-199
    DOI: 10.1080/00207721.2016.1173742
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    Cited by:

    1. Palanimuthu, Kumarasamy & Joo, Young Hoon, 2023. "Reliability improvement of the large-scale wind turbines with actuator faults using a robust fault-tolerant synergetic pitch control," Renewable Energy, Elsevier, vol. 217(C).

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