Trajectory tracking in robotic systems using variable structure control without a reaching phase
TH Chang, Y Hurmuzlu - 1992 American Control Conference, 1992 - ieeexplore.ieee.org
A new variable structure control law based on the Lyapunov's seoond method that can be
used in trajectory planning problems of robotic systems is developed. A modified approach …
used in trajectory planning problems of robotic systems is developed. A modified approach …
Sliding mode end point trajectory control of a two link elastic manipulator
SK Madhavan, SN Singh - [1992] Proceedings of the 31st IEEE …, 1992 - ieeexplore.ieee.org
A variable structure (VS) system scheme for controlling the end effector trajectory of a two-
link flexible robotic arm is introduced. Since control of the actual tip position leads to …
link flexible robotic arm is introduced. Since control of the actual tip position leads to …
Variable structure control problems and the theory of singular perturbations
R Johnson, P Nistri - [1992] Proceedings of the 31st IEEE …, 1992 - ieeexplore.ieee.org
The authors use the classical theory of singularly perturbed systems to design a dynamical
feedback controller which allows solution of control problems, involving sliding manifolds …
feedback controller which allows solution of control problems, involving sliding manifolds …
Regressor based sliding mode control of robotic manipulators
Y Stepanenko, CY Su - [1992] Proceedings of the 31st IEEE …, 1992 - ieeexplore.ieee.org
A regressor-based sliding mode controller is presented for robotic manipulators with the
consideration of computational efficiency. Three specificities distinguish the controller from …
consideration of computational efficiency. Three specificities distinguish the controller from …
Non-linear excitation and governor control using sliding modes
GV Subbarao, A Iyer - 1992 American Control Conference, 1992 - ieeexplore.ieee.org
Modern microprocessor capabilities permit the control designer to consider using relatively
complicated nonlinear control algorithms, which would have been considered impractical in …
complicated nonlinear control algorithms, which would have been considered impractical in …
[引用][C] Multivariable continuous self-adaptive control using variable structure control system design techniques
JA Burton, ASI Zinober - INSTITUTE OF MATHEMATICS …, 1992 - Oxford University Press