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Output feedback sliding mode control for robot manipulators

Published online by Cambridge University Press:  22 January 2010

Shafiqul Islam  and
Peter X. Liu
Shafiqul Islam*
Affiliation:
Department of Systems and Computer Engineering, Carleton University, 1125 Colonel By Drive, Ottawa, ON, Canada. E-mail: xpliu@sce.carleton.ca
Peter X. Liu
Affiliation:
Department of Systems and Computer Engineering, Carleton University, 1125 Colonel By Drive, Ottawa, ON, Canada. E-mail: xpliu@sce.carleton.ca
*
*Corresponding author. E-mail: sislam@sce.carleton.ca
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Summary

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In this work, we propose an output feedback sliding mode control (SMC) method for trajectory tracking of robotic manipulators. The design process has two steps. First, we design a stable SMC controller by assuming that all state variables are available. Then, an output feedback version of this SMC design is presented, which incorporates a model-free linear observer to estimate unknown velocity signals. We then show that the tracking performance under the output feedback design can asymptotically converge to the performance achieved under state-feedback-based SMC design. A detailed stability analysis is given, which shows semi-global uniform ultimate boundedness property of all the closed-loop signals. The proposed method is implemented and evaluated on a robotic system to illustrate the effectiveness of the theoretical development.

Keywords

Output feedbackSliding mode controlObserverRoboticsPerturbation

Information

Type
Article
Information
Robotica , Volume 28 , Issue 7 , December 2010 , pp. 975 - 987
Copyright
Copyright © Cambridge University Press 2010

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