• DocumentCode
    1786300
  • Title

    An extension of the unity vector control method

  • Author

    Roqueiro, N. ; do Carmo, L.M.M. ; Silveira, H.B. ; Colet, E.F.

  • Author_Institution
    Dept. of Autom. & Syst. (DAS), Fed. Univ. of Santa Catarina (UFSC), Florianopolis, Brazil
  • fYear
    2014
  • fDate
    June 29 2014-July 2 2014
  • Firstpage
    1
  • Lastpage
    4
  • Abstract
    In this work, Unity Vector Control is revisited based on the results by V. Utkin and co-workers. The approach here presented extends the one reported by V. Utkin and co-workers so that independent feedback gains may be specified for each input channel. Simulation results illustrate the advantages of the proposed technique for a holonomic model of a two-link manipulator.
  • Keywords
    MIMO systems; feedback; manipulators; variable structure systems; holonomic model; independent feedback gains; input channel; two-link manipulator; unity vector control method; Lyapunov methods; Manganese; Manifolds; Manipulators; Simulation; Symmetric matrices; Trajectory;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Variable Structure Systems (VSS), 2014 13th International Workshop on
  • Conference_Location
    Nantes
  • Type

    conf

  • DOI
    10.1109/VSS.2014.6881099
  • Filename
    6881099
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1786300