ROBOTS CONTROL BASED ON PARAMETER IDENTIFICATION AND ADAPTIVE GAIN SMOOTH SLIDING OBSERVER-CONTROLLER
نویسندگان
چکیده
منابع مشابه
Robots Control Based on Parameter Identification and Adaptive Gain Smooth Sliding Observer-controller
An adaptive gain, smooth sliding observer-controller is developed to control n -degree of freedom rigid robotic manipulators with uncertain parameters. Furthermore, an on-line closed loop identification scheme, for time-varying parameters is proposed in order to obtain useful information despite loads, external disturbances and faults detection. In order to reduce the chattering, a smooth switc...
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ژورنال
عنوان ژورنال: IFAC Proceedings Volumes
سال: 2005
ISSN: 1474-6670
DOI: 10.3182/20050703-6-cz-1902.01355