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An improved variable structure model‐following control for robotic manipulators
Author(s) -
Zhihong Man,
Palaniswami M.
Publication year - 1993
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/acs.4480070605
Subject(s) - control theory (sociology) , robustness (evolution) , scheme (mathematics) , robot manipulator , convergence (economics) , computer science , variable (mathematics) , robust control , controller (irrigation) , control engineering , mathematics , control system , robot , control (management) , engineering , artificial intelligence , mathematical analysis , agronomy , biochemistry , chemistry , biology , electrical engineering , economics , gene , economic growth
Abstract An improved variable structure model‐following control scheme for rigid robotic manipulators is proposed in this paper. It is shown that the controller parameters are determined by only a few uncertain system matrix bounds. The proposed scheme results in greatly simplified controller design; furthermore, strong robustness and asymptotic convergence can be guaranteed. It is shown that this scheme can be easily used for practical applications.