论文信息 - Continuous variable structure controller for robot manipulators using sliding mode observer

Continuous variable structure controller for robot manipulators using sliding mode observer

A continuous variable structure control system for a robot manipulator is proposed. The scheme guarantees that the tracking error converges to zero maintaining the smoothness of the actual control signal. In order to estimate the acceleration data, a sliding mode observer is used, and the closed-loop system is shown to be stable.

Teruo Tsuji | Kang-Bark Park | T. Tsuji | Kang-Bark Park

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