In this paper the sliding mode control theory is applied to a particular underwater gripper actuated by linear motors which, acting on a hydraulic circuit, generate mono-directional forces. In practical realizations actuators often show imprecise relationships between electrical input signals and mechanical output; such a situation constitutes a source of uncertainties. A sliding mode control methodology based on the use of a simplex of constant control vectors is presented. The proposed approach is general enough to also work with different applications. [S0022-0434(00)01204-1]
Simplex Based Sliding Mode Control of an Underwater Gripper
Contributed by the Dynamic Systems and Control Division for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the Dynamic Systems and Control Division March 10, 2000. Associate Technical Editors: E. Misawa and V. Utkin.
Bartolini, G., Coccoli, M., and Punta, E. (March 10, 2000). "Simplex Based Sliding Mode Control of an Underwater Gripper ." ASME. J. Dyn. Sys., Meas., Control. December 2000; 122(4): 604–610. https://doi.org/10.1115/1.1317233
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