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A feedforward sliding mode controller for a robot manipulator

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Abstract

The problem of tracking an a-priori determined trajectory for a robot manipulator is considered. The overall control scheme of the presented solution consists of a feedforward part and a variable structure regulator in the feedback loop. The outputs of this regulator are of constant amplitudes, which considerably speeds up the on-line calculations. The local stability of the whole system in the presence of parameter uncertainties and bounded disturbances is proved.

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Authors and Affiliations

  1. Institute of Control Engineering, 1-13, Technical University of Łódź, Zwirki 36, 90-924, Łódź, Poland

    Piotr Myszkorowski

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  1. Piotr Myszkorowski
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Myszkorowski, P. A feedforward sliding mode controller for a robot manipulator. J Intell Robot Syst 2, 43–52 (1989). https://doi.org/10.1007/BF00450555

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  • DOI: https://doi.org/10.1007/BF00450555

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