Variable structure control for a two-link robot arm

被引：1
|
作者：
Huang, YJ [1 ]
机构：
[1] Yuan Ze Univ, Dept Elect Engn, Chungli, Taiwan
来源：
ELECTRICAL ENGINEERING | 2003年 / 85卷 / 04期
关键词：
variable structure control; sliding mode; robustness; robotics; look-up table;
D O I：
10.1007/s00202-003-0167-5
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
In this paper, a variable structure control method for a two-link robot arm with/without look-up tables is proposed. The stability of the control system is proven. Robustness against parametric variation and external disturbance is achieved. Suitable controller gains are picked up from the angle-related tables to fulfill the control law. The proposed method retains the benefit of variable structure control and further curtails computation time. An additional advantage is that it is not necessary to measure or observe joint angular velocities.
引用
收藏
页码：195 / 204
页数：10
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