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Augmented Sliding Mode Control for Flexible Link Manipulators

โœ Scribed by David G. Wilson; Rush D. Robinett; Gordon G. Parker; Gregory P. Starr

Book ID
110389851
Publisher
Springer Netherlands
Year
2002
Tongue
English
Weight
194 KB
Volume
34
Category
Article
ISSN
0921-0296

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Decentralized sliding mode control for flexible link robots
โœ Gordon G. Parker; Daniel J. Segalman; Rush D. Robinett; Daniel J. Inman ๐Ÿ“‚ Article ๐Ÿ“… 1996 ๐Ÿ› Springer Netherlands ๐ŸŒ English โš– 738 KB

A technique using augmented sliding mode control for robust, real-time control of flexible multiple link robots is presented. For the purpose of controller design, the n-link, n-joint robot is subdivided into n single joint, single link subsystems. A sliding surface for each subsystem is specified s