An improved variable structure model-fol
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Man Zhihong; M. Palaniswami
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Article
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1993
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John Wiley and Sons
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English
β 626 KB
## Abstract An improved variable structure modelβfollowing control scheme for rigid robotic manipulators is proposed in this paper. It is shown that the controller parameters are determined by only a few uncertain system matrix bounds. The proposed scheme results in greatly simplified controller de