Published October 18, 2019
| Version v1
Poster
Open
Sliding mode control to address uncertainties on constrained motion
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Description
Many tasks involve interactions between robot and environment. These interactions are not known a priori and introduce unknown kinematic constraints. This paper addresses the problem of controlling the constrained motion of a robot in the presence of errors in the estimates of these kinematic constraints limiting the robot’s free motion space. We propose to use sliding mode control with a robust term to overcome bounded errors on the constraints. We analyse the problem using the classical formulation of reduced dynamics for a constrained system, and provide conditions of validity for the proposed method.
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Sliding mode control to address uncertainties on constrained motion.pdf
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(166.2 kB)
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