Design of robust adaptive variable structure tracking controllers with application to rigid robot manipulators

IET Control Theory and Applications

Volumn 4, Issue 9, 2010, Pages 1655-1664

  Cheng, C C ^a   Chien, S H ^a,b   Shih, F C ^a  

^a NATIONAL SUN YAT SEN UNIVERSITY   (Taiwan)

^b INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE   (Taiwan)

Author keywords

[No Author keywords available]

Indexed keywords

ADAPTIVE MECHANISM; COEFFICIENT MATRIX; CONTROL SCHEMES; DYNAMIC EQUATIONS; EXTERNAL DISTURBANCES; LYAPUNOV STABILITY THEOREM; MULTI-INPUT MULTI-OUTPUT; PARAMETER VARIATION; POSITIVE DEFINITE; RIGID ROBOTS; ROBUST ADAPTIVE; ROBUST TRACKING PROBLEMS; TRACKING CONTROLLER; UPPER BOUND; VARIABLE STRUCTURE CONTROLLER;

ASYMPTOTIC STABILITY; CONTROL SYSTEM STABILITY; CONTROLLERS; EMBEDDED SYSTEMS; FLEXIBLE MANIPULATORS; INDUSTRIAL ROBOTS; LINEAR SYSTEMS; MACHINE DESIGN; MODULAR ROBOTS; RIGID STRUCTURES; ROBOT APPLICATIONS; SYSTEM STABILITY; VARIABLE STRUCTURE CONTROL;

ADAPTIVE CONTROL SYSTEMS;

EID: 77956646287     PISSN: 17518644     EISSN: 17518652     Source Type: Journal    
DOI: 10.1049/iet-cta.2009.0194     Document Type: Article

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