DocumentCode
2127856
Title
Adaptive sliding mode control of belt driven prismatic manipulator
Author
Tanaka, Maya ; Pan, Yaodong ; Furuta, Katsuhisa
Author_Institution
Dept. of Comput. & Syst. Eng., Denki Univ., Saitama
fYear
2006
fDate
5-7 June 2006
Firstpage
379
Lastpage
384
Abstract
This paper presents an adaptive controller for a new type prismatic manipulator. This adaptive controller is designed with the sliding mode, by which on-line parameters estimation mechanism is implemented and the control input is determined adaptively combining the estimation mechanism. The derivative of the signal is estimated by an adaptive VS-differentiator
Keywords
adaptive control; belts; manipulator dynamics; parameter estimation; variable structure systems; adaptive sliding mode control; belt driven prismatic manipulator; controller design; online parameters estimation mechanism; Actuators; Adaptive control; Belts; Control systems; Friction; Linear feedback control systems; Nonlinear control systems; Parameter estimation; Programmable control; Sliding mode control;
fLanguage
English
Publisher
ieee
Conference_Titel
Variable Structure Systems, 2006. VSS'06. International Workshop on
Conference_Location
Alghero, Sardinia
Print_ISBN
1-4244-0208-5
Type
conf
DOI
10.1109/VSS.2006.1644547
Filename
1644547
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