Variable Structure Control of Manipulators with Joints having Flexibility and Backlash
This article studies the variable structure control of robot manipulators with joints having flexibility and backlash. A second order reference model and a smooth control law eliminate the reaching phase problems and the chattering usually present in the sliding mode. The results show a remarkable i...
| Main Author: | |
|---|---|
| Format: | book |
| Language: | eng |
| Published: |
2016
|
| Online Access: | http://hdl.handle.net/10400.22/8812 |
| Country: | Portugal |
| Oai: | oai:recipp.ipp.pt:10400.22/8812 |
| Summary: | This article studies the variable structure control of robot manipulators with joints having flexibility and backlash. A second order reference model and a smooth control law eliminate the reaching phase problems and the chattering usually present in the sliding mode. The results show a remarkable improvement of the stability over conventional variable structure controllers, while the algorithm maintains a low computational load. |
|---|