Operational Space Model Predictive Sliding Mode Control for Redundant Manipulators

This article presents a novel robust centralized controller for impedance control and reference tracking of redundant manipulators. The proposed approach takes advantage of the robustness properties of sliding mode control (SMC) and the prediction capabilities of model predictive control (MPC). SMC...

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Bibliographic Details
Published in:	IEEE transactions on robotics Vol. 36; no. 4; pp. 1348 - 1355
Main Authors:	Nicolis, Davide, Allevi, Fabio, Rocco, Paolo
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.08.2020 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Actuation Aerospace electronics Attenuation Compliance and impedance control Computer simulation Control theory Controllers Forecasting Impedance Manifolds Manipulators motion control of manipulators optimization and optimal control Predictive control Redundancy redundant robots Robot arms Robots Robust control robust/adaptive control of robotic systems Robustness Sliding mode control sliding mode control (SMC) System dynamics Task analysis Task space Tracking control
ISSN:	1552-3098, 1941-0468
Online Access:	Get full text
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