Controller Design for a Manipulator Using Theory of Variable Structure Systems

IEEE Transactions on Systems, Man and Cybernetics

Volumn 8, Issue 2, 1978, Pages 101-109

  Young, Kar Keung D ^a  

^a UNIVERSITY OF ILLINOIS AT URBANA CHAMPAIGN   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROL SYSTEMS - DESIGN;

MANIPULATORS;

INDUSTRIAL ROBOTS;

EID: 0017931887     PISSN: 00189472     EISSN: 21682909     Source Type: Journal    
DOI: 10.1109/TSMC.1978.4309907     Document Type: Article

References (15)

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2. R. C. Paul, “Modeling, trajectory calculation and servoing of a computer controlled arm,” Stanford Artificial Intelligence Lab., Memo. AIM-177, Nov. 1972.
3. B. R. Markiewicz, “Analysis of the computed torque drive method and comparison with conventional position servo for a computer-controlled manipulator,” Jet Propulsion Lab., Tech. Memo. 33-601, Mar. 15, 1973.
4. G. N. Saridis and H. E. Stephanon, “Hierarchically intelligent control of a bionic arm,” Proc. 1975 IEEE Conf. on Decision and Control, pp. 99-104.
5. K.-K. D. Young, “Control and trajectory optimization of a robot arm,” Univ. of Illinois, Urbana, CSL Rep. R-701, Nov. 1975.
6. “Control and optimization of robot arm trajectories,” Proc. IEEE Milwaukee Symp. on Automatic Computation and Control Apr. 1976, pp. 175-178.
7. S. V. Emelyanov, Variable Structure Control Systems. Moscow: Nauka, 1967 (in Russian); also Munchen-Wien: Oldenburg Verlag, 1969 (in German).
8. Theory of Variable Structure Systems. Moscow: Nauka, 1970 (in Russian).
9. U. Itkis, Control Systems of Variable Structure. New York: Wiley, 1976.
10. V. I. Utkin, Sliding Modes and their Application to Variable Structure Systems. Moscow: Nauka, 1974 (in Russian), to be published in English by Mir, Moscow, 1977.
11. “Variable structure systems with sliding mode: A survey,” IEEE Trans. Automat. Contr., vol. AC-22, pp. 212-222, Apr. 1977.
12. “Equations of sliding mode in discontinuous systems I, II,” Automat. Remote Contr., pp. 1897-1907, 1971; pp. 211-219, 1972.
13. I. Flgge-Lotz, Discontinuous Automatic Control. Princeton, NJ: Princeton Univ. Press, 1953.
14. P. Dorato and A. Kestenbaum, “Application of game theory to the sensitivity design of optimal systems,” IEEE Trans. Automat. Contr., vol. AC-12, pp. 85-87, Feb. 1967.
15. “Uniform graphs for SIMULATION,” Simulation, pp. 275-278, Dec. 1967.