DocumentCode
1265165
Title
Adaptive variable structure set-point control of underactuated robots
Author
Su, Chun-Yi ; Stepanenko, Yury
Author_Institution
Dept. of Mech. Eng., Victoria Univ., BC, Canada
Volume
44
Issue
11
fYear
1999
fDate
11/1/1999 12:00:00 AM
Firstpage
2090
Lastpage
2093
Abstract
Control of underactuated mechanical systems (robots) represents an important class of control problem. In this correspondence, a model-based adaptive variable structure control scheme is introduced, where the uncertainty bounds only depend on the inertia parameters of the system. Global asymptotic stability is established in the Lyapunov sense. Numerical simulations are conducted to validate the theoretical analysis
Keywords
adaptive control; asymptotic stability; closed loop systems; control system synthesis; model reference adaptive control systems; robot dynamics; variable structure systems; adaptive variable structure set-point control; global asymptotic stability; uncertainty bounds; underactuated mechanical systems; underactuated robots; Adaptive control; Control systems; Mechanical engineering; Mechanical systems; Mechanical variables control; Programmable control; Robot control; Robot kinematics; Robot sensing systems; Uncertainty;
fLanguage
English
Journal_Title
Automatic Control, IEEE Transactions on
Publisher
ieee
ISSN
0018-9286
Type
jour
DOI
10.1109/9.802922
Filename
802922
Link To Document