Adaptive variable structure set-point control of underactuated robots

Authors
Su, CY Stepanenko, Y
Citation
Cy. Su et Y. Stepanenko, Adaptive variable structure set-point control of underactuated robots, IEEE AUTO C, 44(11), 1999, pp. 2090-2093
Citations number
19
Categorie Soggetti
AI Robotics and Automatic Control
Journal title
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
ISSN journal
00189286 → ACNP
Volume
44
Issue
11
Year of publication
1999
Pages
2090 - 2093
Database
ISI
SICI code
0018-9286(199911)44:11<2090:AVSSCO>2.0.ZU;2-3
Abstract
Control of underactuated mechanical systems (robots) represents an importan t class of control problem. In this correspondence, a model-based adaptive variable structure control scheme is introduced, where the uncertainty boun ds only depend on the inertia parameters of the system. Global asymptotic s tability is established in the Lyapunov sense. Numerical simulations are co nducted to validate the theoretical analysis.