TY - GEN
T1 - Robust motion control for robotic systems using sliding mode
AU - Kondak, Konstantin
AU - Hommel, Günter
AU - Stanczyk, Bartlomiej
AU - Buss, Martin
PY - 2005
Y1 - 2005
N2 - In the paper an approach for motion control of a wide class of robotic systems is presented. In this approach, the advantages of the sliding mode control (SMC) like robustness and simplicity of the control law are used. At the same time, the main disadvantage of the SMC - chattering - is avoided or at least reduced. It is shown that this approach is applicable to a wide class of robots. For this class of robots, the stability of the closed loop system is proven. The performance of the presented approach is demonstrated in a real experiment with a two arm 2×7DoF humanoid manipulator.
AB - In the paper an approach for motion control of a wide class of robotic systems is presented. In this approach, the advantages of the sliding mode control (SMC) like robustness and simplicity of the control law are used. At the same time, the main disadvantage of the SMC - chattering - is avoided or at least reduced. It is shown that this approach is applicable to a wide class of robots. For this class of robots, the stability of the closed loop system is proven. The performance of the presented approach is demonstrated in a real experiment with a two arm 2×7DoF humanoid manipulator.
UR - http://www.scopus.com/inward/record.url?scp=79957982652&partnerID=8YFLogxK
U2 - 10.1109/IROS.2005.1545461
DO - 10.1109/IROS.2005.1545461
M3 - Conference contribution
AN - SCOPUS:79957982652
SN - 0780389123
SN - 9780780389120
T3 - 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
SP - 2375
EP - 2380
BT - 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
PB - IEEE Computer Society
ER -