Variable-Structure Linear-Model-Following Control of Manipulators
| Autor: | S.K. Tso, M.L. Lai, P.L. Law |
|---|---|
| Rok vydání: | 1993 |
| Předmět: |
0209 industrial biotechnology
Computer science Mechanical Engineering 020208 electrical & electronic engineering Linear model Robot manipulator Structure (category theory) Control engineering 02 engineering and technology Variable structure system Variable (computer science) 020901 industrial engineering & automation Control and Systems Engineering Control theory 0202 electrical engineering electronic engineering information engineering Adaptation (computer science) Control (linguistics) |
| Zdroj: | Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering. 207:35-45 |
| ISSN: | 2041-3041 0959-6518 |
| DOI: | 10.1243/pime_proc_1993_207_313_02 |
| Popis: | The paper describes the interaction between modelling, control and adaptation of a variable-structure model-following method applied to highly non-linear plants. The method is particularly appealing in the control of high-performance robot manipulators. The problems concerned with its application are discussed with reference to the use of a controller in a commercial manipulator as a case study. |
| Databáze: | OpenAIRE |
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