{"title":"具有不确定模型的离散滑模控制应用于机械臂","authors":"M. Hamerlain, S. Laghrouche, R. Benlamine","doi":"10.1109/ROMOCO.2002.1177100","DOIUrl":null,"url":null,"abstract":"This paper discusses discrete sliding mode control for two-link rigid robotic manipulators with uncertain modelling. The discrete sliding mode control problem is formulated. Necessary and sufficient conditions of stability along with the effect of sampling are stated. The discrete controller is shown to lead to a stable closed-loop system. Simulation results are presented to illustrate the features of the control scheme.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"111 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2002-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"Discrete sliding mode control with uncertain modelling applied to robot manipulator\",\"authors\":\"M. Hamerlain, S. Laghrouche, R. Benlamine\",\"doi\":\"10.1109/ROMOCO.2002.1177100\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper discusses discrete sliding mode control for two-link rigid robotic manipulators with uncertain modelling. The discrete sliding mode control problem is formulated. Necessary and sufficient conditions of stability along with the effect of sampling are stated. The discrete controller is shown to lead to a stable closed-loop system. Simulation results are presented to illustrate the features of the control scheme.\",\"PeriodicalId\":213750,\"journal\":{\"name\":\"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.\",\"volume\":\"111 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2002-11-09\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROMOCO.2002.1177100\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROMOCO.2002.1177100","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Discrete sliding mode control with uncertain modelling applied to robot manipulator
This paper discusses discrete sliding mode control for two-link rigid robotic manipulators with uncertain modelling. The discrete sliding mode control problem is formulated. Necessary and sufficient conditions of stability along with the effect of sampling are stated. The discrete controller is shown to lead to a stable closed-loop system. Simulation results are presented to illustrate the features of the control scheme.
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