Proxy-Based Sliding Mode Control on a Pneumatic Platform

Ryo Kikuuwe and Hideo Fujimoto introduce the Proxy-based sliding mode control (PSMC), which is a control algorithm intended for position control of robotic systems. This paper implements PSMC at the Cartesian space of a movable platform of 2 degree of freedom (2-DOF). Numerical co-simulations in Mat...

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Bibliographic Details
Published in2019 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies (CHILECON) pp. 1 - 6
Main Authors Prieto, Pablo J., Rubio, Ernesto, Izaguirre, Eduardo
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.11.2019
Subjects
movable platform
proxy
tracking control
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Summary:Ryo Kikuuwe and Hideo Fujimoto introduce the Proxy-based sliding mode control (PSMC), which is a control algorithm intended for position control of robotic systems. This paper implements PSMC at the Cartesian space of a movable platform of 2 degree of freedom (2-DOF). Numerical co-simulations in Matlab/Simulink ® and MSC-ADAMS ® framework demonstrate the good performance of the system in motion control application.
DOI:10.1109/CHILECON47746.2019.8987979