Discrete time sliding mode control of robotic manipulators: Development and experimental validation

作者：Corradini Maria Letizia^*; Fossi Valentino; Giantomassi Andrea; Ippoliti Gianluca; Longhi Sauro; Orlando Giuseppe

来源：Control Engineering Practice, 2012, 20(8): 816-822.

DOI：10.1016/j.conengprac.2012.04.005

• Discrete-time sliding mode control
• Robust control
• Robotic manipulators
• Uncertainty estimation

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.

• 出版日期2012-8