Sliding modes in motion control systems

Abstract In this paper Sliding Mode Control (SMC) of the systems linear with respect to control and its application to robotic manipulators control system design is presented. The controller is designed to provide sliding mode motion on the selected manifolds in the state space. These manifolds are selected as a linear combination of the state coordinates. This selection allows the formulation of the path tracking control, the force control and the impedance control problems to be very similar. Control is selected to satisfy selected Lyapunov function and stability criteria.

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