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A Variable Structure Control Algorithm for Robot Manipulators Using Acceleration Feedback

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dc.contributor.authorMachado, J. A. Tenreiro
dc.contributor.authorCarvalho, J. L. Martins de
dc.date.accessioned2016-12-14T12:05:07Z
dc.date.embargo2115-09
dc.date.issued1990
dc.description.abstractA new variable structure control algorithm for robot manipulators is announced. Second order linear system sliding curves and a new control law, eliminate the reaching phase problems as well as the chattering usually present in the sliding mode. This controller architecture may also be interpreted as the result of the acceleration data integration on the VSS algorithm. Consequently, there is a shift from the computational burden, often present in sophisticated control schemes, towards a simpler but highly sensor based structure. The results show a remarkable improvement over conventional VSS controllers, maintaining, however, a low computational complexity which make it well suited for microcomputer implementation.pt_PT
dc.description.versioninfo:eu-repo/semantics/publishedVersionpt_PT
dc.identifier.doi10.1007/978-3-642-84051-7_16pt_PT
dc.identifier.isbn978-3-642-84053-1
dc.identifier.isbn978-3-642-84051-7
dc.identifier.urihttp://hdl.handle.net/10400.22/8802
dc.language.isoengpt_PT
dc.peerreviewedyespt_PT
dc.publisherSpringer-Verlagpt_PT
dc.relation.ispartofseriesHighly Redundant Sensing in Robotic Systems;
dc.relation.publisherversionhttp://link.springer.com/chapter/10.1007/978-3-642-84051-7_16pt_PT
dc.subjectArtificial Intelligencept_PT
dc.subjectElectronicspt_PT
dc.subjectMicroelectronicspt_PT
dc.subjectInstrumentationpt_PT
dc.subjectControlpt_PT
dc.subjectRoboticspt_PT
dc.subjectMechatronicspt_PT
dc.subjectEngineering Economicspt_PT
dc.subjectOrganizationpt_PT
dc.subjectLogisticspt_PT
dc.subjectMarketingpt_PT
dc.titleA Variable Structure Control Algorithm for Robot Manipulators Using Acceleration Feedbackpt_PT
dc.typebook
dspace.entity.typePublication
oaire.citation.endPage19pt_PT
oaire.citation.startPage1pt_PT
oaire.citation.titleHighly Redundant Sensing in Robotic Systemspt_PT
oaire.citation.volume58pt_PT
person.familyNameTenreiro Machado
person.givenNameJ. A.
person.identifier.ciencia-id7A18-4935-5B29
person.identifier.orcid0000-0003-4274-4879
person.identifier.ridM-2173-2013
person.identifier.scopus-author-id55989030100
rcaap.rightsopenAccesspt_PT
rcaap.typebookpt_PT
relation.isAuthorOfPublication82cd5c17-07b6-492b-b3e3-ecebdad1254f
relation.isAuthorOfPublication.latestForDiscovery82cd5c17-07b6-492b-b3e3-ecebdad1254f

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