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

• المؤلف الرئيسي: Yao, Bin
• مؤلفون آخرون: Wang, Danwei
• التنسيق: Theses and Dissertations
• اللغة: English
• منشور في: 2009
• الموضوعات: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
• الوصول للمادة أونلاين: http://hdl.handle.net/10356/19821
• المؤسسة: Nanyang Technological University

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...