TY - GEN
T1 - Discrete-time sliding mode control coupled with asynchronous sensor fusion for rigid-link flexible-joint manipulators
AU - Xue, Guangyue
AU - Ren, Xuemei
AU - Xing, Kexin
AU - Chen, Qiang
PY - 2013
Y1 - 2013
N2 - This paper proposes a discrete-time sliding mode controller coupled with an asynchronous multi-rate sensor fusion estimator which estimates the state of a rigid-link flexible-joint manipulator with visual sensing. In the multiple sensors robotic system, the fusion estimate method deals with the slow sampling rate and the latency of vision sensors by using motor encoders to cover the missing information between two visual samples. The discrete-time sliding mode uses the state estimation from fusion estimator which unique modifications simplify the design of the controller. The effectiveness of the proposed controller is illustrated by a computer simulation.
AB - This paper proposes a discrete-time sliding mode controller coupled with an asynchronous multi-rate sensor fusion estimator which estimates the state of a rigid-link flexible-joint manipulator with visual sensing. In the multiple sensors robotic system, the fusion estimate method deals with the slow sampling rate and the latency of vision sensors by using motor encoders to cover the missing information between two visual samples. The discrete-time sliding mode uses the state estimation from fusion estimator which unique modifications simplify the design of the controller. The effectiveness of the proposed controller is illustrated by a computer simulation.
UR - https://www.scopus.com/pages/publications/84882351916
U2 - 10.1109/ICCA.2013.6564939
DO - 10.1109/ICCA.2013.6564939
M3 - Conference contribution
AN - SCOPUS:84882351916
SN - 9781467347075
T3 - IEEE International Conference on Control and Automation, ICCA
SP - 238
EP - 243
BT - 2013 10th IEEE International Conference on Control and Automation, ICCA 2013
T2 - 2013 10th IEEE International Conference on Control and Automation, ICCA 2013
Y2 - 12 June 2013 through 14 June 2013
ER -