A NEW CONTROLLER-DESIGN FOR MANIPULATORS USING THE THEORY OF VARIABLE STRUCTURE SYSTEMS

被引：98

作者：

YEUNG, KS

CHEN, YP

机构：

[1] Univ of Texas, Arlington, TX, USA, Univ of Texas, Arlington, TX, USA

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 1988年 / 33卷 / 02期

关键词：

DYNAMICS - MATHEMATICAL TECHNIQUES - Matrix Algebra - SYSTEM STABILITY - Lyapunov Methods;

D O I：

10.1109/9.391

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A controller design for manipulators using the theory of variable-structure systems (VSS) is presented to deal with the set-point regulation problem. The major obstacle of VSS vector control with strong dynamic coupling is overcome for a class of systems with positive symmetric inertia matrices. Parameter variations can easily be considered in the design methodology, which is readily extendable to a higher number of links. The problem of chattering is solved by the introduction of sliding sectors.

引用

页码：200 / 206

页数：7

共 9 条

[1]

Drazenovic B., 1969, Automatica, V5, P287, DOI 10.1016/0005-1098(69)90071-5

[2]

Itkis U., 1976, CONTROL SYSTEM VARIB

[3]

KAILATH T, 1980, LINEAR SYSTEMS, P656

[4] CONVENTIONAL CONTROLLER-DESIGN FOR INDUSTRIAL ROBOTS - A TUTORIAL [J].