A new variable structure controller for robot manipulators
A new variable structure control algorithm for robot manipulators is announced. Second order linear system sliding curves and a new control law, eliminate the reaching phase problems as well as the chattering usually present in the sliding mode. The results show a remarkable improvement over convent...
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| Format: | conferenceObject |
| Language: | eng |
| Published: |
1988
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| Online Access: | http://hdl.handle.net/10400.22/13133 |
| Country: | Portugal |
| Oai: | oai:recipp.ipp.pt:10400.22/13133 |