sliding mode controlSummary An approach based on sliding mode is proposed in this work for reference tracking in robot visual servoing. In particular, 2 sliding mode controls are obtained depending on whether joint accelerations or joint jerks are considered as the discontinuous control action. Both ...
Cartesian robot control is an appealing scheme because it avoids the computation of inverse kinematics, in contrast to joint robot control approach. For tr
A Sliding-Mode-Control Law for Mobile Robots Based on Epipolar Visual Servoing From Three Views Driving mobile robots to precise locations is of recognized interest, and using vision sensors in this context supplies many advantages. We propose a novel... Becerra, H. M.,Ló,pez-Nicolá,s, G...
A number of approaches based on sliding mode control methodology are proposed in the literature for the position control of robotic manipulators. An important problem in this context is chattering, that is high frequency oscillations in the velocity. In this paper, a novel approach is considered wh...
This paper proposes the synchronization sliding mode control (SSMC) using a Time-Delay Estimation (TDE) for the 4-DOF parallel manipulator against uncertainties. The 4-DOF parallel robot is a closed-chain kinematics structure that leads to the constraint of the geometry. Therefore, the SSMC for ...
An AUV model based on RBFNN is described in the form of affine nonlinear system.A fault reconstruction method based on Terminal sliding mode observer is pr... ZZ Chu,MJ Zhang - 《Ocean Engineering》 被引量: 12发表: 2014年 A Distributed Parallel Motion Control for the Multi-Thruster Autonomou...
In [28], a general concept of visual servoing of parallel robots has been proposed which is based on hidden robot model based on observing the leg directions. The main contribution of this paper is proposing a closed-loop control strategy for a 6-DoF pneumatically actuated Gough-Stewart ...
Joint control requires to map, using ill-posed inverse kinematics, desired cartesian tasks into desired joint tasks, then it codes them into desired joint trajectories. To avoid this, cartesian control directly codes the cartesian task in cartesian coordinates, avoiding in this way any computation of...
F.Li and H.L.Xie,"Sliding Mode Variable Structure Control for Visual Servoing System," International Journal of Automation and Computing,Vol.7,No.3,pp.317-323,Aug, 2010.F. Li, H. L. Xie. Sliding mode variable structure control for visual servoing systems. International Journal of Automa-...
Li F,Xie H L.Sliding mode variable structure con-trol for visual servoing system[J].International Jour-nal of Automation and Computing,2010,7(3):317-323.Fei Li;Hua-Long Xie.Sliding Mode Variable Structure Control for Visual Servoing System.国际自动化与计算杂志.2010.317-323Fei Li, Hua-Long ...