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
fDate :
11/1/1999 12:00:00 AM
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;
Journal_Title :
Automatic Control, IEEE Transactions on
