000014383 001__ 14383
000014383 005__ 20161115100150.0
000014383 04107 $$aeng
000014383 046__ $$k2016-08-21
000014383 100__ $$aZhu, Jiang
000014383 24500 $$aRobust, smooth and fast ASMC - applications to robot manipulators

000014383 24630 $$n24.$$p24th International Congress of Theoretical and Applied Mechanics - Book of Papers
000014383 260__ $$bInternational Union of Theoretical and Applied Mechanics, 2016
000014383 506__ $$arestricted
000014383 520__ $$2eng$$aIn this contribution, we discuss different designs based on the concept of sliding mode control (SMC) to deal with uncertain robotic dynamics in general. We demonstrate the effectiveness of a recently proposed adaptive sliding mode control (ASMC) design with a novel switching gain dynamics, called integral/exponential adaptation law and referred to as IEG-ASMC hereafter. An adjusting term to improve the robustness of this gain adaptation during the reaching phase will be discussed. The proposed design does not require a priori knowledge of the upper bounds of perturbations. These perturbations are not necessarily assumed to be bounded. Tested with different constant-gain-based SMC and ASMC schemes, the simulation results on a five-link robot manipulator dynamics show chatter elimination on control actions, faster responses and better tracking error performances of the new IEG-ASMC design.

000014383 540__ $$aText je chráněný podle autorského zákona č. 121/2000 Sb.
000014383 653__ $$a

000014383 7112_ $$a24th International Congress of Theoretical and Applied Mechanics$$cMontreal (CA)$$d2016-08-21 / 2016-08-26$$gICTAM2016
000014383 720__ $$aZhu, Jiang
000014383 8560_ $$ffischerc@itam.cas.cz
000014383 8564_ $$s122147$$uhttps://invenio.itam.cas.cz/record/14383/files/PO.SM16-1.16.226.pdf$$yOriginal version of the author's contribution as presented on CD,  page 3033, code PO.SM16-1.16.226
.
000014383 962__ $$r13812
000014383 980__ $$aPAPER