Control of rigid robot manipulators via combination of adaptive sliding mode control and compensated inverse dynamics approach

IEE Proceedings: Control Theory and Applications

Volumn 143, Issue 3, 1996, Pages 283-288

  Shyu, K K ^a   Chu, P H ^a   Shang, L J ^a  

^a NATIONAL CENTRAL UNIVERSITY   (Taiwan)

Author keywords

Adaptive sliding mode; Inverse dynamics method; Rigid robot manipulators; Robust stability

Indexed keywords

DYNAMICS; INVERSE KINEMATICS; MANIPULATORS; MATHEMATICAL MODELS; MATRIX ALGEBRA; PARAMETER ESTIMATION; POSITION CONTROL; ROBUSTNESS (CONTROL SYSTEMS); SYSTEM STABILITY; TRACKING (POSITION);

ADAPTIVE SLIDING MODE CONTROL; BOUNDED PARAMETER UNCERTAINTIES; COMPENSATED INVERSE DYNAMICS; RIGID ROBOT MANIPULATORS;

ADAPTIVE CONTROL SYSTEMS;

EID: 0030135126     PISSN: 13502379     EISSN: None     Source Type: Journal    
DOI: 10.1049/ip-cta:19960378     Document Type: Article

References (19)

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