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.
Simplex Based Sliding Mode Control of an Underwater Gripper
COCCOLI, MAURO;
2000-01-01
Abstract
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.File in questo prodotto:
Non ci sono file associati a questo prodotto.
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.