Simple sliding mode control scheme applied to robot manipulators!
作者:
ERIC BAILEY,
ARISTOTLE ARAPOSTATHIS,
期刊:
International Journal of Control
(Taylor Available online 1987)
卷期:
Volume 45,
issue 4
页码: 1197-1209
ISSN:0020-7179
年代: 1987
DOI:10.1080/00207178708933801
出版商: Taylor & Francis Group
数据来源: Taylor
摘要:
We present a simple sliding mode control scheme for robot manipulators that does not rely upon the construction of individually stable discontinuity surfaces, thus greatly reducing the complexity of design. We utilize the structure of the manipulator dynamics and Lyapunov's second method in order to establish a sliding surface on the intersection of the switching surfaces in a direct manner. A simple numerical example accompanies the theoretical development.
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