Name
Abstract | ||
|---|---|---|
This letter extends previous results on constrained optimization control problems of uncertain robot systems based on sliding modes generation. An equivalent linear parameter varying (LPV) state-space representation of the nonlinear robot model is considered to design a stabilizing state-feedback control law by solving linear matrix inequalities (LMI) with structural constraints. The finite-time regulation of the state trajectory to a desired reference, while minimizing a pre-specified cost function with state constraints, is then solved by a sliding mode approach relying on the considered parameter-dependent structure of the robot system. Stability conditions of the proposed approach are provided, and a realistic numerical example verifies the effectiveness of the proposed technique. |
Year | DOI | Venue |
|---|---|---|
2022 | 10.1109/LCSYS.2021.3133362 | IEEE CONTROL SYSTEMS LETTERS |
Keywords | DocType | Volume |
Robots, Manipulators, Trajectory, Cost function, Linear systems, Computational modeling, Regulation, Sliding modes, convex optimization, LPV systems, robotics | Journal | 6 |
ISSN | Citations | PageRank |
2475-1456 | 0 | 0.34 |
References | Authors | |
0 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Gian Paolo Incremona | 1 | 0 | 2.70 |
| A. Ferrara | 2 | 953 | 126.03 |
| Vadim I. Utkin | 3 | 210 | 22.27 |