A variable-structure regulator for robotic systems

被引：7

作者：

Muraca, P ^{[1
]}

Pugliese, P ^{[1
]}

机构：

[1] UNIV CALABRIA,DIPARTIMENTO ELETTR INFORMAT & SISTEMIST,I-87036 RENDE,CS,ITALY

来源：

AUTOMATICA | 1997年 / 33卷 / 07期

关键词：

variable-structure control; robot control;

D O I：

10.1016/S0005-1098(97)00057-5

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper proposes a variable-structure regulator for robotic systems. It is based on the concept of sliding sectors, introduced by Shyu, Tsai and Yung for linear systems, which overcomes the chattering problem typical of the sliding-modes approach. The stability of the controlled system is proved; a numerical simulation is enclosed as an example. (C) 1997 Elsevier Science Ltd.

引用

页码：1423 / 1426

页数：4

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