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Sliding mode control for robust and smooth reference tracking in robot visual servoing

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Sliding mode control for robust and smooth reference tracking in robot visual servoing

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dc.contributor.author Muñoz-Benavent, Pau es_ES
dc.contributor.author Gracia, Luis es_ES
dc.contributor.author Solanes, J. Ernesto es_ES
dc.contributor.author Esparza, Alicia es_ES
dc.contributor.author Tornero, Josep es_ES
dc.date.accessioned 2020-04-17T12:47:52Z
dc.date.available 2020-04-17T12:47:52Z
dc.date.issued 2018 es_ES
dc.identifier.issn 1049-8923 es_ES
dc.identifier.uri http://hdl.handle.net/10251/140831
dc.description.abstract [EN] An approach based on sliding mode is proposed in this work for reference tracking in robot visual servoing. In particular, 2 sliding mode controls are obtained depending on whether joint accelerations or joint jerks are considered as the discontinuous control action. Both sliding mode controls are extensively compared in a 3D-simulated environment with their equivalent well-known continuous controls, which can be found in the literature, to highlight their similarities and differences. The main advantages of the proposed method are smoothness, robustness, and low computational cost. The applicability and robustness of the proposed approach are substantiated by experimental results using a conventional 6R industrial manipulator (KUKA KR 6 R900 sixx [AGILUS]) for positioning and tracking tasks. es_ES
dc.description.sponsorship Spanish Government, Grant/Award Number: BES-2010-038486; Generalitat Valenciana, Grant/Award Number: BEST/2017/029 and APOSTD/2016/044 es_ES
dc.language Inglés es_ES
dc.publisher John Wiley & Sons es_ES
dc.relation.ispartof International Journal of Robust and Nonlinear Control es_ES
dc.rights Reserva de todos los derechos es_ES
dc.subject Control applications es_ES
dc.subject Nonlinear control es_ES
dc.subject Robot system es_ES
dc.subject Robust control es_ES
dc.subject Sliding mode control es_ES
dc.subject.classification INGENIERIA DE SISTEMAS Y AUTOMATICA es_ES
dc.subject.classification ARQUITECTURA Y TECNOLOGIA DE COMPUTADORES es_ES
dc.title Sliding mode control for robust and smooth reference tracking in robot visual servoing es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.1002/rnc.3981 es_ES
dc.relation.projectID info:eu-repo/grantAgreement/GVA//BEST%2F2017%2F029/ es_ES
dc.relation.projectID info:eu-repo/grantAgreement/MICINN//BES-2010-038486/ES/BES-2010-038486/ es_ES
dc.relation.projectID info:eu-repo/grantAgreement/GVA//APOSTD%2F2016%2F044/ es_ES
dc.relation.projectID info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016/DPI2017-87656-C2-1-R/ES/VISION ARTIFICIAL Y ROBOTICA COLABORATIVA EN PULIDO DE SUPERFICIES EN LA INDUSTRIA/ es_ES
dc.rights.accessRights Abierto es_ES
dc.contributor.affiliation Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica es_ES
dc.description.bibliographicCitation Muñoz-Benavent, P.; Gracia, L.; Solanes, JE.; Esparza, A.; Tornero, J. (2018). Sliding mode control for robust and smooth reference tracking in robot visual servoing. International Journal of Robust and Nonlinear Control. 28(5):1728-1756. https://doi.org/10.1002/rnc.3981 es_ES
dc.description.accrualMethod S es_ES
dc.relation.publisherversion https://doi.org/10.1002/rnc.3981 es_ES
dc.description.upvformatpinicio 1728 es_ES
dc.description.upvformatpfin 1756 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 28 es_ES
dc.description.issue 5 es_ES
dc.relation.pasarela S\352247 es_ES
dc.contributor.funder Generalitat Valenciana es_ES
dc.contributor.funder Agencia Estatal de Investigación es_ES
dc.contributor.funder Ministerio de Ciencia e Innovación es_ES
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