A Variable Structure Model Following Control Design for Robotics Applications

IEEE Journal on Robotics and Automation

Volumn 4, Issue 5, 1988, Pages 556-561

  Young, K K David ^a  

^a LAWRENCE LIVERMORE NATIONAL LABORATORY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROL SYSTEMS, ADAPTIVE; DYNAMICS; MATHEMATICAL TECHNIQUES -- STATE SPACE METHODS;

ROBOTIC SYSTEM DYNAMICS; TRACKING ERROR EQUATIONS; VARIABLE STRUCTURE MODEL FOLLOWING CONTROL (VSMFC);

ROBOTS, INDUSTRIAL;

EID: 0024092511     PISSN: 08824967     EISSN: None     Source Type: Journal    
DOI: 10.1109/56.20441     Document Type: Article

References (14)

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3. M. Le Borgne, J. M. Ibarra, and B. Espiau, “Adaptive control of high velocity manipulators,” in Proc. 11th Symp. on Industrial Robots (Tokyo, Japan, Oct. 1981), pp. 227-236.
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6. C. S. G. Lee and M. J. Chung, “An adaptive control strategy for mechanical manipulators,” in Tutorial on Robotics, Lee, Gonzalez, and Fu, Ed. Washington, DC. IEEE Computer Society Press, 1983, pp. 243-249.
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9. G. Ambrosino, G. Celentano, and F. Garofalo, “Variable structure model reference adaptive control systems,” Int. J. Contr., vol. 39, no. 6, pp. 1339-1349, 1984.
10. K-K. D. Young, “Controller design for a manipulator using theory of variable structure systems,” IEEE Trans. Syst., Man, Cybern., vol. SMC-8, pp. 101-109, 1978.
11. J.-J. E. Slotine and S. S. Sastry, “Tracking control of nonlinear systems using sliding surfaces with applications to robot manipulators,” Int. J. Contr., vol. 38, no. 2, pp. 465-492, 1983.
12. V. I. Utkin, Sliding Modes and their Applications. Moscow, USSR: Mir, 1978.
13. K-K. D. Young and H. G. Kwatny, “Variable structure servomechanism design and applications to overspeed protection control,” Automatica, vol. 18, pp. 385-400, 1982.
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