Title :
A decentralized variable structure control algorithm for robotic manipulators
Author :
Morgan, Russel G. ; Özgüner, Ümit
Author_Institution :
Reliance Electric, Columbus, OH, USA
fDate :
3/1/1985 12:00:00 AM
Abstract :
A decentralized variable structure control algorithm is developed for robotic manipulators to cause sliding modes to exist. New approaches are used to reach the sliding mode and to reduce non-ideal characteristics while in the sliding mode. Both position control and trajectory following are examined through two-link and three-link digital simulations.
Keywords :
Manipulators; Automatic control; Control systems; Load forecasting; Load modeling; Manipulators; Position control; Predictive models; Robot control; Sliding mode control; Variable structure systems;
Journal_Title :
Robotics and Automation, IEEE Journal of
DOI :
10.1109/JRA.1985.1086998
