Title :
Smooth variable structure controller for robot manipulator using virtual plant
Author :
Park, Kang-Bark ; Kim, Sung-Woo ; Lee, Ju-Jang
fDate :
11/23/1995 12:00:00 AM
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;
Journal_Title :
Electronics Letters
DOI :
10.1049/el:19951445
