Unified approach to robust control of robot manipulator using variable structure model-reaching control strategy

Robust control of mechanical manipulators in the presence of parametric uncertainties and external disturbances has been studied. Variable structure control (VSC) theory is adopted for the design of the controller method. Depending on the characteristics of the environment which the manipulator make...

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主要作者: Yao, Bin
其他作者: Wang, Danwei
格式: Theses and Dissertations
語言:English
出版: 2009
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在線閱讀:http://hdl.handle.net/10356/19821
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機構: Nanyang Technological University
語言: English
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record_format dspace
spelling sg-ntu-dr.10356-198212023-07-04T15:22:59Z Unified approach to robust control of robot manipulator using variable structure model-reaching control strategy Yao, Bin Wang, Danwei School of Electrical and Electronic Engineering DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics Robust control of mechanical manipulators in the presence of parametric uncertainties and external disturbances has been studied. Variable structure control (VSC) theory is adopted for the design of the controller method. Depending on the characteristics of the environment which the manipulator makes contact with, different control objectives can be achieved by a unified design approach method. Master of Engineering 2009-12-14T06:42:08Z 2009-12-14T06:42:08Z 1992 1992 Thesis http://hdl.handle.net/10356/19821 en NANYANG TECHNOLOGICAL UNIVERSITY 92 p. application/pdf
institution Nanyang Technological University
building NTU Library
continent Asia
country Singapore
Singapore
content_provider NTU Library
collection DR-NTU
language English
topic DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
spellingShingle DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
Yao, Bin
Unified approach to robust control of robot manipulator using variable structure model-reaching control strategy
description Robust control of mechanical manipulators in the presence of parametric uncertainties and external disturbances has been studied. Variable structure control (VSC) theory is adopted for the design of the controller method. Depending on the characteristics of the environment which the manipulator makes contact with, different control objectives can be achieved by a unified design approach method.
author2 Wang, Danwei
author_facet Wang, Danwei
Yao, Bin
format Theses and Dissertations
author Yao, Bin
author_sort Yao, Bin
title Unified approach to robust control of robot manipulator using variable structure model-reaching control strategy
title_short Unified approach to robust control of robot manipulator using variable structure model-reaching control strategy
title_full Unified approach to robust control of robot manipulator using variable structure model-reaching control strategy
title_fullStr Unified approach to robust control of robot manipulator using variable structure model-reaching control strategy
title_full_unstemmed Unified approach to robust control of robot manipulator using variable structure model-reaching control strategy
title_sort unified approach to robust control of robot manipulator using variable structure model-reaching control strategy
publishDate 2009
url http://hdl.handle.net/10356/19821
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