A SLIDING MODE CONTROLLER WITH BOUND ESTIMATION FOR ROBOT MANIPULATORS

Authors
SU CY LEUNG TP
Citation
Cy. Su et Tp. Leung, A SLIDING MODE CONTROLLER WITH BOUND ESTIMATION FOR ROBOT MANIPULATORS, IEEE transactions on robotics and automation, 9(2), 1993, pp. 208-214
Citations number
20
Categorie Soggetti
Computer Application, Chemistry & Engineering","Controlo Theory & Cybernetics","Computer Applications & Cybernetics
Journal title
IEEE transactions on robotics and automation → ACNP
ISSN journal
1042296X
Volume
9
Issue
2
Year of publication
1993
Pages
208 - 214
Database
ISI
SICI code
1042-296X(1993)9:2<208:ASMCWB>2.0.ZU;2-6
Abstract
sliding mode control algorithm combined with an adaptive scheme, which is used to estimate the unknown parameter bounds, is developed for th e trajectory control of robot manipulators. Simulation results show th e validity of accurate tracking capability and robust performance.