Proceedings of the 1993 EEE,RSJ International Conference on Intelligent Robots and Systems Yokohama, Japan July 2630,1993 CHATTERING FREE SLIDING MODES IN ROBOTIC MANIPULATORS CONTROL

Abstract

SlidingjMdd@trol (SMC) of tk systems linear with respect to control and its application to robotic manipulator control system design is presented. The controller is designed to provide sliding mode motion on the selected manifolds in the state space. These manifolds are selected as a linear combination of the state coordinates. This selection allows the formulation of the path tracking control, $Re force contraand impedance control problems to be very similar. Control is selected to satisfy selected Lyapunov function and stability criteria. 9