DocumentCode :
3083795
Title :
Robust variable structure and switching adaptive control of single-arm dynamics
Author :
Chen, Li-Wen ; Shieh, Shyang D.
Author_Institution :
Dept. of Electr. Eng., Chinese Naval Acad., Taiwan, China
fYear :
1997
fDate :
5-7 Oct. 1997
Firstpage :
595
Lastpage :
597
Abstract :
In this paper, the variable structure control (VSC) and switching adaptive control (SAC) law are used to design a robust controller for single-arm rigid manipulators in joint space. The controller is shown to be robust with respect to bounded disturbance and its analysis can conclude the estimated parameter will not drift to infinity in presence of bounded disturbance. Besides, the joint torques have no chattering phenomena since VSC laws have not been used in the proposed control law.
Keywords :
adaptive control; manipulator dynamics; robust control; variable structure systems; VSC; VSS; bounded disturbance; joint space; robust control design; single-arm dynamics; single-arm rigid manipulators; switching adaptive control; variable structure control; Acceleration; Adaptive control; Equations; Lyapunov method; Manipulator dynamics; Parameter estimation; Robust control; Torque; Upper bound;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Applications, 1997., Proceedings of the 1997 IEEE International Conference on
Conference_Location :
Hartford, CT, USA
Print_ISBN :
0-7803-3876-6
Type :
conf
DOI :
10.1109/CCA.1997.627721
Filename :
627721
Link To Document :
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