NDLI: Nonlinear sliding mode control and feasible workspace analysis for a cable suspended robot with input constraints and disturbances

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Nonlinear sliding mode control and feasible workspace analysis for a cable suspended robot with input constraints and disturbances

Content Provider	Semantic Scholar
Author	Oh, So-Ryeok Agrawal, S. K.
Copyright Year	2004
Abstract	This paper deals with the characterization of the feasible workspace of set-point control for a cable suspended robot. The motivation behind this work is to find admissible set points for the system under disturbances as well as input constraints. The main ideas are: (i) designing a sliding mode controller as a stabilizing controller for the given uncertain system, (ii) finding the range of system states in terms of set points by analyzing the reaching condition and sliding mode, and (iii) substituting states in inequalities of the input with either their upper values or lower values so that constraints are satisfied. This method results in 6 inequalities in terms of set point which can be drawn graphically in the 3-dimensional space.
Starting Page	193
Ending Page	193
Page Count	1
File Format	PDF HTM / HTML
DOI	10.23919/acc.2004.1384041
Volume Number	5
Journal	Proceedings of the 2004 American Control Conference
Alternate Webpage(s)	http://www.nt.ntnu.no/users/skoge/prost/proceedings/acc04/Papers/0826_FrM03.1.pdf
Alternate Webpage(s)	http://folk.ntnu.no/skoge/prost/proceedings/acc04/Papers/0826_FrM03.1.pdf
Alternate Webpage(s)	https://doi.org/10.23919/acc.2004.1384041
Language	English
Access Restriction	Open
Content Type	Text
Resource Type	Article

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