Sliding Mode Control Of Flexible Robots

By switzerlandersing On Sep 14, 2025

Sliding-Mode Robot Control | PDF | Control Theory | Teaching Mathematics

Sliding-Mode Robot Control | PDF | Control Theory | Teaching Mathematics Aiming at solving the problems of trajectory tracking and joint flexible vibration of base attitude controlled flexible jointed space robots under external disturbances, a novel control method based on nonlinear integral sliding mode is proposed. firstly, the dynamic model of flexible joint space robot with floating base attitude controlled is established by using lagrange method, and the. The proposed method serves as the theoretical support for cascading an outer position control loop with the inner direct (state space) sliding mode joint torque control loop for the trajectory tracking control of flexible joint robots.

(PDF) Sliding Mode Control Strategies For Robotic Systems

(PDF) Sliding Mode Control Strategies For Robotic Systems First, physics informed sparse regression is used for deriving a nonlinear mathematical model of the robot dynamics. then, a control scheme comprising a super twisting sliding mode controller and a nonlinear input estimator is designed for the positioning of the robot end effector. The precise control of this kind of system demands an accurate system model and knowledge of all sources that excite unmodeled dynamics. for this purpose, equations of motion for a flexible robot arm were derived and formulated for the large motion via lagrange’s method. Abstract: this paper presents a robust control scheme for flexible link robotic manipulators, which is based on considering the flexible mechanical structure as a system with slow (rigid) and fast (flexible) modes that can be controlled separately. This paper proposes a fixed time extended state observer (fxteso) based adaptive fixed time integral sliding mode controller (afxtismc) for the tracking trajectory of the fjr with different initial conditions (ics), using the singular perturbation (sp) method.

Figure 1 From A Decentralized Adaptive Sliding Mode Control Method For Reconfigurable Modular ...

Figure 1 From A Decentralized Adaptive Sliding Mode Control Method For Reconfigurable Modular ... Abstract: this paper presents a robust control scheme for flexible link robotic manipulators, which is based on considering the flexible mechanical structure as a system with slow (rigid) and fast (flexible) modes that can be controlled separately. This paper proposes a fixed time extended state observer (fxteso) based adaptive fixed time integral sliding mode controller (afxtismc) for the tracking trajectory of the fjr with different initial conditions (ics), using the singular perturbation (sp) method. This article proposes an adaptive integral sliding mode controller (aismc) based on a singular perturbation method and two state observers for the fjr to achieve high performance. In this paper, a high order extended state observer (hoeso) based a sliding mode control (smc) is proposed for a flexible joint robot (fjr) system in the presence of time varying external disturbance. A continuous fuzzy nonsingular terminal sliding mode control (cfntsmc) is proposed to position control of a serial chain n link flexible joint electrically driven robot manipulator in presence of the matched and mismatched uncertainties with electrical and mechanical equations. The position control for sflfjm using a sliding mode controller (smc) is investigated. using two types of smc techniques, control law is designed such that the manipulator reached the desired position.

(PDF) Design And Stability Analysis Of A Robust-Adaptive Sliding Mode Control Applied On A Robot ...

(PDF) Design And Stability Analysis Of A Robust-Adaptive Sliding Mode Control Applied On A Robot ... This article proposes an adaptive integral sliding mode controller (aismc) based on a singular perturbation method and two state observers for the fjr to achieve high performance. In this paper, a high order extended state observer (hoeso) based a sliding mode control (smc) is proposed for a flexible joint robot (fjr) system in the presence of time varying external disturbance. A continuous fuzzy nonsingular terminal sliding mode control (cfntsmc) is proposed to position control of a serial chain n link flexible joint electrically driven robot manipulator in presence of the matched and mismatched uncertainties with electrical and mechanical equations. The position control for sflfjm using a sliding mode controller (smc) is investigated. using two types of smc techniques, control law is designed such that the manipulator reached the desired position.

Figure 2 From Motion Control System Of A Mobile Robot Based On Improved Sliding Mode | Semantic ...

Figure 2 From Motion Control System Of A Mobile Robot Based On Improved Sliding Mode | Semantic ... A continuous fuzzy nonsingular terminal sliding mode control (cfntsmc) is proposed to position control of a serial chain n link flexible joint electrically driven robot manipulator in presence of the matched and mismatched uncertainties with electrical and mechanical equations. The position control for sflfjm using a sliding mode controller (smc) is investigated. using two types of smc techniques, control law is designed such that the manipulator reached the desired position.

Self-adaptive Sliding Mode Control Method And System And Mobile Robot Controller - Eureka | Patsnap