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A variable structure model following control design for robotics applications

✍ Scribed by Young, K.-K.D.


Book ID
114561745
Publisher
IEEE
Year
1988
Tongue
English
Weight
514 KB
Volume
4
Category
Article
ISSN
0882-4967

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## Abstract An improved variable structure model‐following 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