In this paper the sliding mode control theory is applied to a particular underwater gripper actuated by linear motors which, acting on a hydraulic circuit, generate mono-directional forces. In practical realizations actuators often show imprecise relationships between electrical input signals and mechanical output; such a situation constitutes a source of uncertainties. A sliding mode control methodology based on the use of a simplex of constant control vectors is presented. The proposed approach is general enough to also work with different applications. [S0022-0434(00)01204-1]
1.
Utkin, V. I., 1992, Sliding Modes In Control And Optimization, Springer Verlag, Berlin.
2.
Davies
, B. J.
, 1991
, “Elephant Trunks, an Unforgettable Alternative to Rigid Mechanism
,” Ind. Robot
, 18
, No. 4
, pp. 29
–30
.3.
Goldstein, H., 1950, Classical Mechanics, Addison-Wesley Publishing Co., Reading, MA.
4.
Murray, R. N., Li, Z., and Sastry, S. S., 1993, A Mathematical Introduction to Robotic Manipulation, CRC Press, NY.
5.
Bartolini
, G.
, Ferrara
, A.
, and Usai
, E.
, 1997
, “Applications of a Sub-optimal Discontinuous Control Algorithm for Uncertain Second Order Systems
,” Int. J. Robust Nonlinear Control
, 7
, No. 4
, pp. 299
–319
.6.
Bartolini
, G.
, Ferrara
, A.
, and Usai
, E.
, 1997
, “Output Tracking Control of Uncertain Nonlinear Second-Order Systems
,” Automatica
, 33
, No. 12
, pp. 2203
–2212
.7.
Bartolini
, G.
, and Ferrara
, A.
, 1996
, “Multi-Input Sliding Mode Control of a Class of Uncertain Nonlinear Systems
,” IEEE Trans. Autom. Control
, 41
, pp. 1662
–1666
.8.
Bartolini, G., Ferrara, A., Utkin, V. I., and Zolezzi, T., 1997, “A Control Vector Simplex Approach to Variable Structure Control of Nonlinear Systems,” Int. J. Robust Nonlinear Control.
9.
Baida
, S. V.
, and Izosimov
, D. B.
, 1985
, “Vector Method of Design of Sliding Motion and Simplex Algorithms
,” Autom. Remote Control
, 7
, No. 46
, pp. 830
–837
.Copyright © 2000
by ASME
You do not currently have access to this content.
