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

页码：208 / 214

页数：7

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