科研之友
微信
新浪微博
Facebook
分享链接
摘要
An adaptive sliding mode scheme is developed for accurate tracking control of robotic manipulators. By coupling on-line estimation of unknown manipulator and payload parameters to sliding mode control, tracking performance is effectively improved. The introduction of a boundary layer solves the problem of chattering and provides a consistent rule on when to stop adaptation. The algorithm is computationally simple, because of an effective exploitation of the structure of manipulator dynamics. The approach is demonstrated by simulations.
- 出版日期1993-2
- 单位华南理工大学
