SMC framework in motion control systems

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Official URL: http://dx.doi.org/10.1002/acs.968

Design of a motion control system should take into account both the unconstrained motion performed without interaction with environment or another system, and the constrained motion where the system is in contact with environment or has certain functional interactions with another system. In this paper control systems design approach, based on siding mode methods, that allows selection of control for generic tasks as trajectory and/or force tracking as well as for systems that require maintaining some functional relation - like bilateral or multilateral systems, establishment of virtual relation among mobile robots or control of haptic systems - is presented. It is shown that all basic motion control problems - trajectory tracking, force control, hybrid position/force control scheme and the impedance control - can be treated in the same way while avoiding the structural change of the controller and guaranteeing stable behaviour of the system. In order to show applicability of the proposed techniques simulation and experimental results for high precision systems in microsystems assembly tasks and bilateral control systems are presented.