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Authors
Advisor(s)
Abstract(s)
This article studies the variable structure control of robot manipulators with flexible joints. A second order preference 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 that makes it well suited for microcomputer implementation.
Description
Keywords
Control system synthesis Digital control Manipulators Microcomputer applications Stability Variable structure systems
Citation
Publisher
Institute of Electrical and Electronics Engineers