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Adaptive sliding mode control of robot manipulators: General sliding manifold case

✍ Scribed by Chun-Yi Su; Yury Stepanenko

Publisher
Elsevier Science
Year
1994
Tongue
English
Weight
319 KB
Volume
30
Category
Article
ISSN
0005-1098

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✦ Synopsis

Based on a general form of a sliding manifold, a design strategy for the adaptive sliding mode control is presented for robot systems. It is shown that without any prior knowledge of the manipulator parameters under the deterioration of a class of state-dependent input disturbances, the controller guarantees the occurrence of the sliding mode on the general sliding manifold. *

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