DocumentCode
1213400
Title
Smooth variable structure controller for robot manipulator using virtual plant
Author
Park, Kang-Bark ; Kim, Sung-Woo ; Lee, Ju-Jang
Volume
31
Issue
24
fYear
1995
fDate
11/23/1995 12:00:00 AM
Firstpage
2134
Lastpage
2136
Abstract
A new smooth variable structure control method is proposed for robot manipulators. Even though the proposed controller uses a switching function, the actual control signal shows a smooth curve. The closed-loop system is globally stable and shown to have a robust property against parameter uncertainties
Keywords
closed loop systems; manipulator dynamics; robust control; stability; switching functions; variable structure systems; closed-loop system; control signal; globally stable; parameter uncertainties; robot manipulator; robust property; smooth variable structure controller; switching function; virtual plant;
fLanguage
English
Journal_Title
Electronics Letters
Publisher
iet
ISSN
0013-5194
Type
jour
DOI
10.1049/el:19951445
Filename
480757
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