A smooth variable structure control algorithm for robot manipulators
A new sliding controller is proposed. Second order linear system sliding curves eliminate the reaching phase and consequently and associated problems of load sensitivity and high demanded torque. Moreover, the chattering usually present in the sliding phase also disappears with the new control law....
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| Format: | conferenceObject |
| Language: | eng |
| Published: |
1988
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| Online Access: | http://hdl.handle.net/10400.22/8909 |
| Country: | Portugal |
| Oai: | oai:recipp.ipp.pt:10400.22/8909 |