Name
Title | ||
|---|---|---|
Passive Velocity Field Control For Contour Tracking Of Robots With Model-Free Controller |
Abstract | ||
|---|---|---|
A simple, fast and robust Passive Velocity Field Control (PVFC) scheme for contour tracking in 2D and 3D is presented. A model-free and chattering-free second order sliding mode controller is proposed, which enforces an invariant manifold for all time such that the generalized velocity tracks the spatial velocity field. A constructive simple and intuitive method to design this velocity field is built upon a fuzzy aggregation of orthogonal vectors to guide the end-effector subject to a dissipative map. Stability properties in the sense of Lyapunov establish the fast and yet smooth tracking with typical robustness of sliding modes. In this way, the closed-loop system exhibits the mildness of PVFC but it evades the subtle complexities of the original approach PVFC. A simulation study is discussed, and experimental results highlight the characteristics of the proposed approach. |
Year | DOI | Venue |
|---|---|---|
2013 | 10.1109/ICRA.2013.6630834 | 2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) |
Keywords | Field | DocType |
end effectors,orthogonal vectors,end effector,invariant manifold,fuzzy set theory,robust control,robots | Lyapunov function,Control theory,Vector field,Control theory,Dissipative system,Orthogonality,Robustness (computer science),Control engineering,Robust control,Invariant manifold,Mathematics | Conference |
Volume | Issue | ISSN |
2013 | 1 | 1050-4729 |
Citations | PageRank | References |
1 | 0.36 | 7 |
Authors | ||
6 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| A.-J. Munoz-Vazquez | 1 | 42 | 9.97 |
| E.D Adamides | 2 | 26 | 6.05 |
| A. Sanchez | 3 | 1 | 0.36 |
| Octavio Garcia | 4 | 12 | 4.26 |
| Francisco Ruiz-Sanchez | 5 | 8 | 3.30 |
| S. Rosales | 6 | 1 | 0.36 |