Hybrid motion controller - SMC point of view

In this paper we discuss the realization of hybrid motion control systems in the sliding mode framework. A motion control system with n d.o.f may mathematically be formulated as system composed of n interconnected second order block. Any control system design should take into account the unconstrained motion and motion of the system in contact with unknown environment. Design of such a system may be formulated as a requirement that the generalized coordinates must satisfy certain constraint. The constraint manifolds can be selected in such a way that to ensure the desired motion satisfy constraints of the system (in trajectory tracking or control of the contact with environment). Such a formulation leads naturally to sliding mode framework to be applied. The possibility to treat both unconstrained motion (the motion without contact with environment) and constrained motion in the same way is shown.