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Hybrid Efficient Control Algorithms for Robot Manipulators
J. Lee
tech. report CMU-RI-TR-91-30, Robotics Institute, Carnegie Mellon University, November, 1991.

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In this report we discuss accurate and robust sliding mode tracking control for highly nonlinear robot manipulators using a disturbance observer. To eliminate the chattering problem existed in conventional Sliding Mode Control (SMC) approach, which is caused by modeling errors and uncertainties, the efficient compensation of the disturbance observer has been introduced.

The proposed sliding mode control is presented in two theorems. The bounded stability of the proposed control method is proven and the efficiency of the control algorithms has been demonstrated by simulations for a position tracking control of a two-link robot subject to parameter and payload uncertainties.

Grant ID: F33615-90-C-1465, NGT-50423

Associated center: VASC

Number of pages: 22

J. Lee, Hybrid Efficient Control Algorithms for Robot Manipulators, tech. report CMU-RI-TR-91-30, Robotics Institute, Carnegie Mellon University, November, 1991.

@techreport{Lee_1991_274,
   author = "Ju-Jang Lee",
   title = "Hybrid Efficient Control Algorithms for Robot Manipulators",
   institution = "Robotics Institute, Carnegie Mellon University",
   month = "November",
   year = "1991",
   number = "CMU-RI-TR-91-30",
   address = "Pittsburgh, PA"
}