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Authors: Youmin Hu ; Jie Liu ; Bo Wu ; Kaibo Zhou and Mingfeng Ge

Affiliation: Huazhong University of Science and Technology, China

ISBN: 978-989-758-123-6

ISSN: 2184-2809

Keyword(s): Joint Position Tracking, Synchronized Control, Adaptive Sliding Mode Control, Robot Manipulator.

Related Ontology Subjects/Areas/Topics: Adaptive Signal Processing and Control ; Engineering Applications ; Industrial Engineering ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Robot Design, Development and Control ; Robotics and Automation ; Signal Processing, Sensors, Systems Modeling and Control ; Systems Modeling and Simulation

Abstract: A novel adaptive sliding mode control algorithm is derived to deal with synchronized joint position tracking control of robot manipulators. The proposed algorithm does not require the precise dynamic model, and is very practical. The cross-coupled technology is incorporated into the adaptive sliding mode control architecture through feedback of joint position errors and synchronization errors. Its robustness is verified by the Lyapunov stability theory. Simulation results obtained from a 3-link non-linear planer robot manipulator demonstrate the effectiveness of the approach under various disturbances.

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Paper citation in several formats:
Hu, Y.; Liu, J.; Wu, B.; Zhou, K. and Ge, M. (2015). An Adaptive Sliding Mode Controller for Synchronized Joint Position Tracking Control of Robot Manipulators.In Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-123-6, ISSN 2184-2809, pages 239-245. DOI: 10.5220/0005524502390245

@conference{icinco15,
author={Youmin Hu. and Jie Liu. and Bo Wu. and Kaibo Zhou. and Mingfeng Ge.},
title={An Adaptive Sliding Mode Controller for Synchronized Joint Position Tracking Control of Robot Manipulators},
booktitle={Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2015},
pages={239-245},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005524502390245},
isbn={978-989-758-123-6},
}

TY - CONF

JO - Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - An Adaptive Sliding Mode Controller for Synchronized Joint Position Tracking Control of Robot Manipulators
SN - 978-989-758-123-6
AU - Hu, Y.
AU - Liu, J.
AU - Wu, B.
AU - Zhou, K.
AU - Ge, M.
PY - 2015
SP - 239
EP - 245
DO - 10.5220/0005524502390245

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