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  • Cited by 7
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    This article has been cited by the following publications. This list is generated based on data provided by CrossRef.

    Vijay, Mokenapalli and Jena, Debashisha 2015. 2015 IEEE International Conference on Signal Processing, Informatics, Communication and Energy Systems (SPICES). p. 1.

    Jalani, J. Herrmann, G. and Melhuish, C. 2014. Underactuated fingers controlled by robust and adaptive trajectory following methods. International Journal of Systems Science, Vol. 45, Issue. 2, p. 120.

    Vijay, Mokenapalli and Jena, Debashisha 2014. 2014 9th International Conference on Industrial and Information Systems (ICIIS). p. 1.

    Rosas Almeida, David I. Alvarez, Joaquin and Peña, Jonatan 2011. Control structure with disturbance identification for Lagrangian systems. International Journal of Non-Linear Mechanics, Vol. 46, Issue. 3, p. 486.

    Dianqi Li, Dingyu Xue, Tao Li, Jianguo Cui, and Xinhe Xu, 2007. 2007 IEEE International Conference on Control and Automation. p. 2694.

    Rojko, Andreja and Jezernik, Karel 2005. FUZZY ESTIMATION OF THE ROBOT LOAD. IFAC Proceedings Volumes, Vol. 38, Issue. 1, p. 115.

    Rojko, A. and Jezernik, K. 2004. Sliding-Mode Motion Controller With Adaptive Fuzzy Disturbance Estimation. IEEE Transactions on Industrial Electronics, Vol. 51, Issue. 5, p. 963.


Sliding mode control with perturbation estimation: application on DD robot mechanism

  • Boris Curk (a1) and Karel Jezernik (a1)
  • DOI:
  • Published online: 30 October 2001

In this work another perturbation estimation sliding mode based control algorithm is introduced for a class of robotic systems in the presence of structured and unstructured uncertainties and external disturbances. The effects of these uncertainties are combined into a single quantity. A full order device with the actuator voltages as control inputs is assumed in control design. The decentralized control scheme with only a partial state feedback is applied. A modification of the switching functions with perturbation estimation is introduced. The salient features of this approach is that the perturbations are effectively treated by a computationally straightforward procedure. The proposed controller is applied to a minimal configuration direct drive robot mechanism.

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  • ISSN: 0263-5747
  • EISSN: 1469-8668
  • URL: /core/journals/robotica
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