Title :
Continuous variable structure controller for robot manipulators using sliding mode observer
Author :
Park, Kang-Bark ; Tsuji, Teruo
Author_Institution :
Dept. of Electr. Eng., Kyushu Inst. of Technol., Kitakyushu, Japan
fDate :
29 Jun-1 Jul 1998
Abstract :
A continuous variable structure control system for a robot manipulator is proposed. The scheme guarantees that the tracking error converges to zero maintaining the smoothness of the actual control signal. In order to estimate the acceleration data, a sliding mode observer is used, and the closed-loop system is shown to be stable
Keywords :
closed loop systems; continuous time systems; control system analysis; manipulator dynamics; observers; position control; stability; variable structure systems; acceleration data; continuous variable structure controller; robot manipulators; sliding mode observer; tracking error; Control systems; Convergence; Electric variables control; Frequency; Manipulators; Robot control; Robot sensing systems; Sliding mode control; Uncertainty; Variable structure systems;
Conference_Titel :
Advanced Motion Control, 1998. AMC '98-Coimbra., 1998 5th International Workshop on
Conference_Location :
Coimbra
Print_ISBN :
0-7803-4484-7
DOI :
10.1109/AMC.1998.743588
