SMOOTH VARIABLE-STRUCTURE CONTROLLER FOR ROBOT MANIPULATOR USING VIRTUAL PLANT
A new smooth variable structure control method is proposed for robot manipulators. Even though the proposed controller uses a switching function, the actual control signal shows a smooth curve. The closed-loop system is globally stable and shown to have a robust property against parameter uncertainties.
- Publisher
- IEE-INST ELEC ENG
- Issue Date
- 1995-11
- Language
- English
- Article Type
- Article
- Citation
ELECTRONICS LETTERS, v.31, no.24, pp.2134 - 2136
- ISSN
- 0013-5194
- Appears in Collection
- EE-Journal Papers(저널논문)
- Files in This Item
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