Distributed Adaptive Sliding Mode Control of Modular and Reconfigurable Robots

摘要：

For modular and reconfigurable robots, it is very difficult to design effective controllers due to diverse configurations. Thus, a distributed adaptive sliding mode controller is proposed in this paper to satisfy the concept of modular software. Based on geometric formulation for the dynamics of rigid body, a robot dynamics system can be divided into some subsystems by a decomposing algorithm, and then an adaptive sliding mode controller is designed for each subsystem to handle the modeling uncertainty. These subsystem controllers together constitute a modular control network to achieve stable and reliable motion of a modular and reconfigurable robot. Finally, simulation results show the validity of the proposed distributed adaptive sliding mode controller.

关键词： Modular and reconfigurable robots distributed control sliding mode control

作者: MingChao Zhu Ying Li YuanChun Li

作者单位: Department of Control Science and Engineering JiLin University ChangChun, JiLin Province, China

会议类型: 国际会议

会议名称: 2007 IEEE International Conference on Automation and Lofistics

会议地点: 山东济南

会议语种:英文

在线出版日期: 2007-08-18（万方平台首次上网日期，不代表论文的发表时间）