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