Affiliation:
1. Department of Electrical and Electronic Engineering, University of Hong Kong
Abstract
A model-based variable-structure adaptive control scheme recently proposed for the trajectory tracking of robot manipulators has shown significant promise. By actual implementation with a commercial manipulator, the practical means for improvement are examined, the design trade-offs are systematically explored, and the distinguishing features of the performance achievable in the improved version are brought out and compared with those of earlier schemes.
Subject
Mechanical Engineering,Control and Systems Engineering
Cited by
3 articles.
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1. Contour Tracking of a Redundant Robot Using Integral Variable Structure Control with Output Feedback;Journal of Intelligent & Robotic Systems;2010-09-02
2. Trajectory tracking control of robot manipulators using a neural-network-based torque compensator;Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering;1998-08-01
3. Sliding mode control for non-linear systems with global invariance;Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering;1997-02-01