This paper presents a discrete-time sliding mode control based on prediction compensation of uncertainties for planar robotic manipulators. Autoregressive models, identified on-line by Kalman Filters, are used to learn about uncertainties affecting the system. The analysis of the control stability is given and the controller is evaluated on the ERICC robot arm. Experiments show that the proposed controller produces good trajectory tracking performance and it is robust in the presence of model inaccuracies

Discrete-time Sliding Mode Control of Robotic Manipulators: Development and Experimental Validation

CORRADINI, Maria Letizia
2011-01-01

Abstract

This paper presents a discrete-time sliding mode control based on prediction compensation of uncertainties for planar robotic manipulators. Autoregressive models, identified on-line by Kalman Filters, are used to learn about uncertainties affecting the system. The analysis of the control stability is given and the controller is evaluated on the ERICC robot arm. Experiments show that the proposed controller produces good trajectory tracking performance and it is robust in the presence of model inaccuracies
2011
9781457700170
273
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11581/218477
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