Sliding Mode Control of a Three Degrees of Freedom Anthropoid Robot by Driving the Controller Parameters to an Equivalent Regime

[+] Author and Article Information
M. Onder Efe, Okyay Kaynak

Electrical and Electronic Engineering Department, Bogazici University, Bebek, 80815, Istanbul, Turkey

Xinghuo Yu

Faculty of Informatics and Communication, Central Queensland University, Rockhampton QLD 4702, Australiae-mail: X.Yu@cqu.edu.au

J. Dyn. Sys., Meas., Control 122(4), 632-640 (Feb 11, 2000) (9 pages) doi:10.1115/1.1318353 History: Received February 11, 2000
Copyright © 2000 by ASME
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Structure of the ADALINE controller
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Architecture of the control system
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Signs of sp and sc on different sides of sp=0 line
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Sets of possible four cases
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The family of lines formed as the value of sp varies
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The relation Ψ performs a mapping between two horizontal axes shown
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Physical structure of the manipulator
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Reference state trajectories
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Motion in the phase plane for each link
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Time behavior of the lyapunov function in (38) for each link
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Evaluated and applied torque inputs
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Behavior of the parameters of the base link controller
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Behavior of the parameters of the shoulder link controller
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Behavior of the parameters of the elbow link controller




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