In this paper the sliding mode control theory is applied to a particular underwater gripper actuated by linear motors which, acting on a hydraulic circuit, generate mono-directional forces. In practical realizations actuators often show imprecise relationships between electrical input signals and mechanical output; such a situation constitutes a source of uncertainties. A sliding mode control methodology based on the use of a simplex of constant control vectors is presented. The proposed approach is general enough to also work with different applications.
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