Robust Sliding-Mode Position/Force Set-Point Control of Underactuated Constrained manipulator

【摘要】：In this paper, a robust position/force set-point control strategy based on a sliding-mode is designed for constrained underactuated manipulator. At first, the reduced underactuated position/force dynamic model is obtained by considering a coordination transformation. Then, a controller based on a sliding-mode is designed to drive the closed-loop system states to reach the adopted sliding model surface. Considering the parametric uncertainties of the manipulator, a robust control strategy is applied to bound compensation. Furthermore, we can obtain a global asymptotic stability result for the positions error in the Lyapunov sense and the error of constraint force is bounded with a controllable bound. Finally, the simulation results of a three-DOF manipulator system illustrate the validity and the feasibility of the proposed method in this paper.