Adaptive sliding mode control for manipulating deformable linear object with input saturation

Feng Ding, Jian Huang, Yongji Wang, Toshio Fukuda, Takayuki Matsuno

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

Manipulating deformable linear objects (DLOs) is much challengeable as the uncertainty resulting from oscillation of DLOs may cause failure in the operation. In this paper, we proposed a position-based control strategy to eliminate the vibration at the end of DLOs. The simplified dynamic model of a DLO is obtained by local linearization, Schur decomposition of matrices and linear transform of variable. Based on the dynamic model, an adaptive law is applied to estimate the uncertain parameters, and a sliding mode controller considering the position constraint condition is designed to force the state variables converging to the equilibrium. The effectiveness of proposed control strategies are verified by numerical simulations.

Original languageEnglish
Title of host publication2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012
Pages1862-1867
Number of pages6
DOIs
Publication statusPublished - Oct 23 2012
Externally publishedYes
Event2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012 - Chengdu, China
Duration: Aug 5 2012Aug 8 2012

Publication series

Name2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012

Other

Other2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012
CountryChina
CityChengdu
Period8/5/128/8/12

Keywords

  • Adaptive sliding mode control
  • deformable linear objects
  • input saturation
  • vibration reduction

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Mechanical Engineering

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  • Cite this

    Ding, F., Huang, J., Wang, Y., Fukuda, T., & Matsuno, T. (2012). Adaptive sliding mode control for manipulating deformable linear object with input saturation. In 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012 (pp. 1862-1867). [6285105] (2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012). https://doi.org/10.1109/ICMA.2012.6285105