Adaptive terminal sliding mode control of a rigid robotic manipulator with uncertain dynamics incorporating constraint inequalities

Authors

  • P. G. Keleher
  • R. J. Stonier

DOI:

https://doi.org/10.21914/anziamj.v43i0.468

Abstract

We consider the control of a rigid robotic manipulator using robust adaptive sliding mode tracking control. Physical state constraints are incorporated using a multiplicative penalty in a Liapunov function from which we obtain analytic control laws that drive the robot's end effector into a desired fixed target within finite time.

Published

2002-03-25

Issue

Section

Articles for Electronic Supplement