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A variable-structure regulator for robotic systems
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DOI：10.1016/S0005-1098(97)00057-5.png)
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Abstract
En 中文
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.
Keywords:
variable-structure control
robot control
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