Adaptive variable structure set-point control of underactuated robots
نویسندگان
چکیده
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 the theoretical analysis.
منابع مشابه
Comments on "adaptive variable structure set-point control of underactuated robots"
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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ورودعنوان ژورنال:
- IEEE Trans. Automat. Contr.
دوره 44 شماره
صفحات -
تاریخ انتشار 1999