Abstract
In this chapter, a sliding-mode control strategy is discussed for a class of non-linear mechanical subsystems with varying trajectory dynamics. The proposed class of subsystems is represented in this simulation example by a two-link robot actuator/manipulator as a simulator for the spout angle control in harvesting machines. The fractional order is introduced in the setpoint definition to represent changes in the desired trajectory of this subsystem. Furthermore, the same order is used to adapt the control law to the new dynamics. Uncertainties are introduced in the model used for the control law, while robustness is intrinsic. Other linear controllers are also designed and used in comparison analysis, following performance and robustness tests.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Acknowledgements
This work gratefully acknowledges the insight gathered during the bilateral collaboration with Case New Holland, located in Zedelgem, Belgium, during 2010–2014.
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
Copyright information
© 2020 Springer Nature Switzerland AG
About this chapter
Cite this chapter
Copot, C., Ionescu, C.M., Muresan, C.I. (2020). Sliding-Mode Control for a Class of Robotic Arms. In: Image-Based and Fractional-Order Control for Mechatronic Systems. Advances in Industrial Control. Springer, Cham. https://doi.org/10.1007/978-3-030-42006-2_9
Download citation
DOI: https://doi.org/10.1007/978-3-030-42006-2_9
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-42005-5
Online ISBN: 978-3-030-42006-2
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)