ADAPTIVE SLIDING MODE CONTROL OF ROBOT MANIPULATORS - GENERAL SLIDING MANIFOLD CASE

被引：16
|
作者：
SU, CY
STEPANENKO, Y
机构：
[1] Department of Mechanical Engineering, University of Victoria, Victoria
来源：
AUTOMATICA | 1994年 / 30卷 / 09期
关键词：
ROBOTS; VARIABLE STRUCTURE CONTROL; ADAPTIVE CONTROL; STABILITY; TRACKING SYSTEMS;
D O I：
10.1016/0005-1098(94)90019-1
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：1497 / 1500
页数：4
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