Trajectory tracking of robotic manipulators using optimal sliding mode control
2017 International Conference on Control, Automation and Diagnosis (ICCAD)(2017)
摘要
This paper is concerned with the Optimal Sliding Mode Control (OSMC) for trajectory tracking of Multiple-Input Multiple Output (MIMO) systems. Integrating the first-order sliding mode control (SMC) with Linear-Quadratic-Regulator (LQR) is employed to design an optimal sliding manifold and a global robust control law for asymptotically stabilizing the system to a desired trajectory. The applicability and the efficiency of our approach are illustrated by simulation results for 2-link robot manipulators to show its effectiveness.
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关键词
sliding mode control,robotic manipulators,LQR,integral sliding surface,tracking trajectory,optimal control,optimal sliding mode control
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