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

页码：1497 / 1500

页数：4

共 14 条

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