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• W2009533892 abstract "A simple, fast and robust Passive Velocity Field Control (PVFC) scheme for contour tracking in 2D and 3D is presented. A model-free and chattering-free second order sliding mode controller is proposed, which enforces an invariant manifold for all time such that the generalized velocity tracks the spatial velocity field. A constructive simple and intuitive method to design this velocity field is built upon a fuzzy aggregation of orthogonal vectors to guide the end-effector subject to a dissipative map. Stability properties in the sense of Lyapunov establish the fast and yet smooth tracking with typical robustness of sliding modes. In this way, the closed-loop system exhibits the mildness of PVFC but it evades the subtle complexities of the original approach PVFC. A simulation study is discussed, and experimental results highlight the characteristics of the proposed approach." @default.
• W2009533892 created "2016-06-24" @default.
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• W2009533892 date "2013-05-01" @default.
• W2009533892 modified "2023-10-03" @default.
• W2009533892 title "Passive Velocity Field Control for contour tracking of robots with model-free controller" @default.
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• W2009533892 doi "https://doi.org/10.1109/icra.2013.6630834" @default.
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