Design and Performance Studies of Model-Based Variable-Structure Adaptive Controllers for Industrial Manipulators

Abstract

A model-based variable-structure adaptive control scheme recently proposed for the trajectory tracking of robot manipulators has shown significant promise. By actual implementation with a commercial manipulator, the practical means for improvement are examined, the design trade-offs are systematically explored, and the distinguishing features of the performance achievable in the improved version are brought out and compared with those of earlier schemes.