Open AccessSliding mode control of robotic arms with deadzone
Author(s) -
Rubio José
Publication year - 2017
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2016.0306
Subject(s) - control theory (sociology) , dead zone , controller (irrigation) , mode (computer interface) , sliding mode control , lyapunov function , exponential stability , computer science , lyapunov stability , control engineering , engineering , control (management) , artificial intelligence , nonlinear system , physics , geology , oceanography , quantum mechanics , operating system , agronomy , biology
In this study, a sliding mode controller is designed for the regulation of robotic arms with unknown behaviours in the deadzone and gravity. The sliding mode strategy is employed to compensate the unknown behaviours. Furthermore, the asymptotic stability of the controller is guaranteed by the Lyapunov technique. The application in two robotic arms shows the effectiveness of the proposed technique.