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Robust Motion Control - SMC Point Of View
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| Author(s) |
Asif Sabanovic |
| Abstract |
In this paper the robust motion control systems in
the sliding mode framework are discussed. Due to the fact that a
motion control system with n d.o.f may be mathematically
formulated in a unique way as a system composed of n second
order systems, design of such a system may be formulated in a
unique way as a requirement that the generalized coordinates
must satisfy certain algebraic constraint. Such a formulation
leads naturally to sliding mode framework to be applied. In this
approach constraint manifolds are selected to coincide with
desired constraints on the generalized coordinates. It has been
shown that the CMC can be interpreted as a realization of the
acceleration controller thus possessing all robust properties of
the acceleration controller framework. The possibility to treat
both unconstrained motion (the motion without contact with
environment) and constrained motion in the same way is shown. |
| Download |
| Filename: | A16697 |
| Filesize: | 274.4 KB |
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| Type |
Members Only |
| Date |
Last modified 2006-02-17 by System |
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