Title :
Comments on "A sliding mode controller with bound estimation for robot manipulators"
Author :
Tarokh, M. ; McDermott, G.
Author_Institution :
Dept. of Math. Sci., San Diego State Univ., CA, USA
fDate :
4/1/1995 12:00:00 AM
Abstract :
In Su and Leung (1993), a sliding mode control method is proposed for joint trajectory tracking of robot manipulators. The method is based on the decomposition of the manipulator dynamics into the product of a constant parameter vector and a regressor matrix, originally developed by Slotine and Li (1988). This note shows that the method proposed by Su and Leung does not offer any advantage over the method of Slotine and Li.<>
Keywords :
manipulator dynamics; matrix algebra; tracking; variable structure systems; bound estimation; constant parameter vector; joint trajectory tracking; manipulator dynamics; regressor matrix; robot manipulators; sliding mode controller; Automatic control; Intelligent robots; Intelligent systems; Laboratories; Manipulator dynamics; Matrix decomposition; Robotics and automation; Sliding mode control; Trajectory; Upper bound;
Journal_Title :
Robotics and Automation, IEEE Transactions on
