Title :
A variable structure model following control design for robotics applications
Author :
Young, K. K David
Author_Institution :
Lawrence Livermore Nat. Lab., California Univ., Livermore, CA, USA
fDate :
10/1/1988 12:00:00 AM
Abstract :
A variable structure model following control (VSMFC) design method is proposed for robotics applications. The method allows the designer to model the nonlinear dynamic interactions among the different mechanical components of the robot system even when an adaptive control solution is called for to satisfy stringent performance requirements. A VSMFC design for a planar two-link robot arm is considered as an example
Keywords :
control system synthesis; model reference adaptive control systems; robots; variable structure systems; control system synthesis; model reference adaptive control; nonlinear dynamic interactions; planar two-link robot arm; variable structure model following control; Adaptive control; Communication system control; Control design; Control systems; Design methodology; Error correction; Programmable control; Robotics and automation; Robots; Transient response;
Journal_Title :
Robotics and Automation, IEEE Journal of
