A Variable Structure Control by Using the Idea of Fictitious Set Point
نویسندگان
چکیده
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Control of underactuated mechanical systems (robots) represents an important class of control problem. In this correspondence, a model-based adaptive variable structure control scheme is introduced, where the uncertainty bounds only depend on the inertia parameters of the system. Global asymptotic stability is established in the Lyapunov sense. Numerical simulations are conducted to validate th...
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This paper presents an adaptive variable structure con-troller(VSC) for set-point regulation of a class of non-linear systems. Due to the existence of the sign function , the conventional VSC has the input chattering phenomenon even in the steady state. The method used in this paper essentially solves the problem by using a decreasing switching control input whose size is proportional to the tr...
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Recently, an adaptive variable structure controller was proposed in the above note1 to solve the set-point problem for underactuated robots. Specifically, a time-varying gain, denoted by k(t) 2 , was utilized in the control development and stability analysis which was generated via a discontinuous differential equation. Unfortunately, due to the discontinuous nature of the time derivative of k(...
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ژورنال
عنوان ژورنال: Transactions of the Society of Instrument and Control Engineers
سال: 1996
ISSN: 0453-4654
DOI: 10.9746/sicetr1965.32.62