DocumentCode
872439
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
Volume
4
Issue
5
fYear
1988
fDate
10/1/1988 12:00:00 AM
Firstpage
556
Lastpage
561
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;
fLanguage
English
Journal_Title
Robotics and Automation, IEEE Journal of
Publisher
ieee
ISSN
0882-4967
Type
jour
DOI
10.1109/56.20441
Filename
20441
Link To Document