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Time-optimal sliding mode control of robot manipulator
Örebro University, Department of Technology.
Örebro University, Department of Technology.
2000 (English)In: 26th annual conference of the IEEE industrial electronics society: IECON 2000, 2000, p. 265-270Conference paper, Published paper (Refereed)
Abstract [en]

We demonstrate a time-optimal control algorithm based on the sliding mode control principle to control a robot manipulator. A designed time-optimal trajectory during the reaching phase is combined with fast sliding dynamics. The discontinuous algorithm gives a time response closer to the analytical time-optimal control solution based on the Pontryagin principle, and robust performance in the presence of plant parameter uncertainties.

Place, publisher, year, edition, pages
2000. p. 265-270
Keywords [en]
manipulators, time optimal control, variable structure systems, time-optimal sliding mode control
National Category
Computer Sciences
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-4282DOI: 10.1109/IECON.2000.973161ISBN: 0-7803-6456-2 (print)OAI: oai:DiVA.org:oru-4282DiVA, id: diva2:138581
Conference
26th Annual Conference of the IEEE Industrial Electronics Society, 2000, IECON 2000
Available from: 2007-12-14 Created: 2007-12-14 Last updated: 2018-01-13Bibliographically approved

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Kalaykov, IvanIliev, Boyko

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
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  • modern-language-association-8th-edition
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  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
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Output format
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  • text
  • asciidoc
  • rtf