Variable structure robot control systems: The RAPP approach
نویسندگان
چکیده
منابع مشابه
A Variable Structure Observer for the Control of Robot Manipulators
This paper deals with the application of a variable structure observer developed for a class of nonlinear systems to solve the trajectory tracking problem for rigid robot manipulators. The analyzed approach to observer design proposes a simple design methodology for systems having completely observable linear parts and bounded nonlinearities and/or uncertainties. This observer is basically the ...
متن کاملA Variable Structure Observer Based Control Design for a Class of Large scale MIMO Nonlinear Systems
This paper fully discusses how to design an observer based decentralized fuzzy adaptive controller for a class of large scale multivariable non-canonical nonlinear systems with unknown functions of subsystems’ states. On-line tuning mechanisms to adjust both the parameters of the direct adaptive controller and observer that guarantee the ultimately boundedness of both the tracking error and tha...
متن کاملPotentials of Evolving Linear Models in Tracking Control Design for Nonlinear Variable Structure Systems
Evolving models have found applications in many real world systems. In this paper, potentials of the Evolving Linear Models (ELMs) in tracking control design for nonlinear variable structure systems are introduced. At first, an ELM is introduced as a dynamic single input, single output (SISO) linear model whose parameters as well as dynamic orders of input and output signals can change through ...
متن کاملMitigation of Switching Harmonics in Shunt Active Power Filter Based on Variable Structure Control Approach
This paper presents a novel control approach used in shunt active power filter based on variable structure control combined with Random PWM technique (RVSC) that provides robust, fast, and more favorable performance for active power filter. This control strategy is compared with two other strategies to show the effectiveness of the introduced methods; pulse width modulated proportional-integral...
متن کاملAdaptive Tracking Control of Fuzzy Time-delay Systems Using Variable Structure Control Approach
Based on fuzzy T-S model and variable structure control technique, adaptive output tracking control problem for fuzzy time-delay systems in the existence of parameter perturbations is developed. Firstly, the sliding mode was chosen by variable structure control theory. By applying the Lypunov stability theory, the design method of adaptive variable structure control is proposed. The use of adap...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Robotics and Autonomous Systems
سال: 2017
ISSN: 0921-8890
DOI: 10.1016/j.robot.2017.05.002