title   
  

Sliding modes in constrained systems control

Şabanoviç, Asif and Elitaş, Meltem and Ohnishi, Kouhei (2008) Sliding modes in constrained systems control. IEEE Transactions on Industrial Electronics, 55 (9). pp. 3332-3339. ISSN 0278-0046

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Official URL: http://dx.doi.org/10.1109/TIE.2008.928112

Abstract

Abstract—In this paper, a sliding-mode-based design framework for fully actuated mechanical multibody system is discussed. The framework is based on the possibility to represent complex motion as a collection of tasks and to find effective mapping of the system coordinates that allows decoupling task and constraint control so one is able to enforce concurrently, or in certain time succession, the task and the constraints. The approach seems naturally encompassing the control of motion systems in interaction, and it allows application to bilateral control, multilateral control, etc. Such an approach leads to a more natural interpretation of the system tasks, simpler controller design, and easier establishment of the systems hierarchy. It allows a unified mathematical treatment of task control in the presence of constraints required to be satisfied by the system coordinates. In order to show the applicability of the proposed techniques, simulation and experimental results for high-precision systems in microsystem assembly tasks and bilateral control systems are presented.

Item Type:Article
Subjects:T Technology > TJ Mechanical engineering and machinery > TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General)
ID Code:9383
Deposited By:Asif Şabanoviç
Deposited On:21 Oct 2008 12:01
Last Modified:25 May 2011 14:04

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