Title :
An extension of the unity vector control method
Author :
Roqueiro, N. ; do Carmo, L.M.M. ; Silveira, H.B. ; Colet, E.F.
Author_Institution :
Dept. of Autom. & Syst. (DAS), Fed. Univ. of Santa Catarina (UFSC), Florianopolis, Brazil
fDate :
June 29 2014-July 2 2014
Abstract :
In this work, Unity Vector Control is revisited based on the results by V. Utkin and co-workers. The approach here presented extends the one reported by V. Utkin and co-workers so that independent feedback gains may be specified for each input channel. Simulation results illustrate the advantages of the proposed technique for a holonomic model of a two-link manipulator.
Keywords :
MIMO systems; feedback; manipulators; variable structure systems; holonomic model; independent feedback gains; input channel; two-link manipulator; unity vector control method; Lyapunov methods; Manganese; Manifolds; Manipulators; Simulation; Symmetric matrices; Trajectory;
Conference_Titel :
Variable Structure Systems (VSS), 2014 13th International Workshop on
Conference_Location :
Nantes
DOI :
10.1109/VSS.2014.6881099
