2003 Volume 46 Issue 3 Pages 967-972
In this paper, a new type of sliding mode controller with gain-scheduled variable hyper plane for position and force control is presented. In this controller, the hyper plane in the sliding mode controller is continuously adjusted according to the environmental stiffness identified in real time. This controller is applied for force control using a one-degree-of-freedom manipulator system, and the performance of this controller is verified for both simulation and experiments.
JSME international journal. Ser. 1, Solid mechanics, strength of materials
JSME international journal. Ser. A, Mechanics and material engineering
JSME international journal. Ser. 3, Vibration, control engineering, engineering for industry
JSME international journal. Ser. C, Dynamics, control, robotics, design and manufacturing
JSME International Journal Series A Solid Mechanics and Material Engineering
JSME International Journal Series B Fluids and Thermal Engineering