Force control for unknown environment using sliding mode controller with gain-scheduled variable hyperplane
説明
In this paper, a new type of sliding mode controller with gain-scheduled variable hyper plane for position and force control is presented. In this controller, the hyper plane in sliding mode controller is continuously adjusted according to the environmental stiffness identified in real time. This controller is applied to force control using a one-degree-of-freedom manipulator system, and the performance of this controller is verified by both simulation and experiments.
収録刊行物
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- IEEE 2002 28th Annual Conference of the Industrial Electronics Society. IECON 02
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IEEE 2002 28th Annual Conference of the Industrial Electronics Society. IECON 02 3 1812-1817, 2003-10-31
IEEE