Application of Sliding Mode Control to Robotic Systems,Commande par Modes de Glissement en Robotique

Teaching unit component UNIT-GDR program on Robotics. A non linear control law based on aasive theory is considered for one degree-of- freedom electric actuator with friction and backlash. This controller required joint positions and velocities measurements. Since only joint positions are available,velocities must be estimated. Then,an torque compensation estimator is developped. Experimental results of these technics are given for an experimental system that allows to tune the range of the backlash and the friction on electrical system.

Disciplines : Techniques de la commande automatique - Commande informatisée : Robots
Mots-clés : mécatronique,robotique,robotics,commande de robot rapide,second order sliding mode,commande robuste,robust control,robust observer,robot manipulateur,mode de glissement
Type de document : texte,image
Type de ressource : lecture
Niveau : higher education
Publics visés : learner,teacher
Auteurs ou éditeurs : Nacer M'Sirdi,Université d'Aix Marseille,UNIT