Adaptive Variable Structure Control of Robot Manipulators with Exponentially Stable Trajectories
نویسنده
چکیده
An adaptive variable structure control approach for robot manipulators is proposed in this paper. The proposed approach avoids the requirement of the uncertainty parameter bounds which is adopted in the most of robust control methods, and makes the tracking errors converge to zero exponentially without requiring any persistent excitation. In addition, the fast parameter variations (e.g. payload variation) are allowed, unlike the conventional adaptive control method which assumed that the parameter variations are slower than the adaptive mechanism.
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