Robust Sliding-Mode Position/Force Set-Point Control of Underactuated Constrained manipulator
作者单位：College of Information and Control EngineeringChina University of Petroleum （East China）
会议名称：《第36届中国控制会议》
会议届次：36
主办单位：Dalian University of Technology;Systems Engineering Society of China (SESC);Technical Committee on Control Theory (TCCT), Chinese Association of Automation (CAA)
会议日期：2017年
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程]
关 键 词：Underactuated manipulator Position/Force control Sliding-Mode control
摘 要：In this paper, a robust position/force set-point control strategy based on a sliding-mode is designed for constrained underactuated manipulator. At first, the reduced underactuated position/force dynamic model is obtained by considering a coordination transformation. Then, a controller based on a sliding-mode is designed to drive the closed-loop system states to reach the adopted sliding model surface. Considering the parametric uncertainties of the manipulator, a robust control strategy is applied to bound compensation. Furthermore, we can obtain a global asymptotic stability result for the positions error in the Lyapunov sense and the error of constraint force is bounded with a controllable bound. Finally, the simulation results of a three-DOF manipulator system illustrate the validity and the feasibility of the proposed method in this paper.