MANIPULATION
Smooth variable structure controller for robot manipulatorusing virtual plant
Park, Kyeong‐Hwa Kim, Jin Lee
- Year
- 1995
- Citations
- 3
Abstract
A new smooth variable structure control method is proposed for robot manipulators. Even though the proposed controller uses a switching function, the actual control signal shows a smooth curve. The closed-loop system is globally stable and shown to have a robust property against parameter uncertainties.
Keywords
Control theory (sociology)Controller (irrigation)Variable (mathematics)Property (philosophy)Robot manipulatorRobotVariable structure controlSIGNAL (programming language)Control engineeringVariable structure system
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