✦ LIBER ✦
An improved variable structure model-following control for robotic manipulators
✍ Scribed by Man Zhihong; M. Palaniswami
- Publisher
- John Wiley and Sons
- Year
- 1993
- Tongue
- English
- Weight
- 626 KB
- Volume
- 7
- Category
- Article
- ISSN
- 0890-6327
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✦ Synopsis
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 design; furthermore, strong robustness and asymptotic convergence can be guaranteed. It is shown that this scheme can be easily used for practical applications.