A SLIDING MODE CONTROLLER WITH BOUND ESTIMATION FOR ROBOT MANIPULATORS

被引：100
|
作者：
SU, CY [1 ]
LEUNG, TP [1 ]
机构：
[1] HONG KONG POLYTECH,DEPT MECH & MARINE ENGN,KOWLOON,HONG KONG
来源：
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1993年 / 9卷 / 02期
关键词：
D O I：
10.1109/70.238284
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
sliding mode control algorithm combined with an adaptive scheme, which is used to estimate the unknown parameter bounds, is developed for the trajectory control of robot manipulators. Simulation results show the validity of accurate tracking capability and robust performance.
引用
收藏
页码：208 / 214
页数：7
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