Variable Structure Control of Manipulators with Joints having Flexibility and Backlash

Machado, J. A. Tenreiro

http://hdl.handle.net/10400.22/8812

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Autores

Machado, J. A. Tenreiro

Resumo(s)

This article studies the variable structure control of robot manipulators with joints having flexibility and backlash. A second order reference model and a smooth control law eliminate the reaching phase problems and the chattering usually present in the sliding mode. The results show a remarkable improvement of the stability over conventional variable structure controllers, while the algorithm maintains a low computational load.

URI

http://hdl.handle.net/10400.22/8812

Editora

AAC-American Academy of Mechanics and ABCM-Associação Brasileira de Ciências Mecânicas

Coleções

ISEP – DEE – Livro, parte de livro, ou capítulo de livro

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