A new controller design for manipulators using the theory of variable structure systems

DOI10.1109/9.391MaRDI QIDQ3772063zbMATH OpenOpenAlexFDO

Authors K. S. Yeung, Yon-Ping Chen

Publication date 1988

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1109/9.391

zbMATH Keywords

controller designvariable structure systemschatteringset-point regulationmanipulatorssliding sectorsParameter variations

Mathematics Subject Classification ID

Existence of optimal solutions belonging to restricted classes (Lipschitz controls, bang-bang controls, etc.) (49J30) Control of mechanical systems (70Q05) Synthesis problems (93B50) Control/observation systems governed by ordinary differential equations (93C15) Application models in control theory (93C95)

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Cited in

(22)

• A robust sliding mode control for pneumatic servo systems
• Fuzzy adaptive output feedback control for robotic systems based on fuzzy adaptive observer
• Disturbance-observer-based sliding mode control for T-S fuzzy discrete-time systems with application to circuit system
• On the robust control aspect of a class of systems involving interconnected rigid and flexible appendages: case study
• An adaptive sliding mode control scheme for robot manipulators
• Robust force control for robotic manipulators
• Operating robot manipulators through kinematic singularities using a continuously sliding mode control
• A performance approach to fuzzy control design for nonlinear systems
• Robust adaptive control of plants with unknown order and high frequency gain
• Variable structure control with a second-order sliding condition: Application to a steam generator
• Robust tracking control for robotic manipulator via fuzzy logic system and \(H_\infty\) approaches
• Variable structure control of a distributed-parameter flexible beam
• Fuzzy control of a manipulator using the concept of sliding mode
• Adaptive sliding mode control of robot manipulators: General sliding manifold case
• Sliding mode control of linear systems with mismatched uncertainties
• Variable structure control of robot manipulators with nonlinear sliding manifolds
• Robust trajectory following of robots using computed torque structure with VSS
• On-line genetic algorithm-based fuzzy-neural sliding mode controller using improved adaptive bound reduced-form genetic algorithm
• Path tracking control of robot manipulators via the VSS approach
• Adaptive robust quadratic stabilization tracking control for robotic system with uncertainties and external disturbances
• Neural network based robust hybrid control for robotic system: an \(H_\infty\) approach
• The Design and Application of a Manipulator’s Motion Controller for Changing CNC Machine Tools

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