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http://dx.doi.org/10.5207/JIEIE.2006.20.8.042

Sliding Mode Control with Bound Estimation for Robot Manipulators  

Yoo, Dong-Sang (한경대학교 전기공학과/전자기술종합연구소)
Publication Information
Journal of the Korean Institute of Illuminating and Electrical Installation Engineers / v.20, no.8, 2006 , pp. 42-47 More about this Journal
Abstract
In this paper, we propose a sliding mode control with the bound estimation for robot manipulators without requiring exact knowledge of the robot dynamics. For the bound estimation, the upper bound of the uncertain nonlinearities of robot dynamics is represented as a Fredholm integral equation of the first kind and we propose an adaptive scheme which is only dependent on the sliding surface function. Also, we prove the asymptotic stability for the robot systems using two important properties in the robot dynamics: skew-symmetry and positive-definiteness of robot parameters.
Keywords
Sliding mode; Fredholm integral;
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