Journal
INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE
Volume 45, Issue 3, Pages 556-570Publisher
TAYLOR & FRANCIS LTD
DOI: 10.1080/00207721.2012.724106
Keywords
position synchronised control; multiple robotic manipulators; integral sliding mode control; cross-coupling error
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Funding
- National Nature Science Foundation of China [61004080]
- Shandong Provincial Natural Science Foundation, China [ZR2011FM003]
- Fundamental Research Funds for the Central Universities of China
- Development of key technologies project of Qingdao Economic and Technological Development Zone [2011-2-52]
- Taishan Scholar Construction Engineering Special funding
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In this study, a new position synchronised control algorithm is developed for multiple robotic manipulator systems. In the merit of system synchronisation and integral sliding mode control, the proposed approach can stabilise position tracking of each robotic manipulator while coordinating its motion with the other manipulators. With the integral sliding mode, the proposed approach has insensitiveness against the lumped system uncertainty within the entire process of operation. Further, a perturbation estimator is proposed to reduce chattering effect. The corresponding stability analysis is presented to lay a foundation for theoretical understanding to the underlying issues as well as safely operating real systems. An illustrative example is bench tested to validate the effectiveness of the proposed approach.
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