An adaptive variable structure model following control design for robot manipulators

1991 ◽  
Vol 36 (3) ◽  
pp. 347-353 ◽  
Author(s):  
Tin-Pui Leung ◽  
Qi-Jie Zhou ◽  
Chun-Yi Su
Keyword(s):  
Robot Manipulators ◽  
Control Design ◽  
Variable Structure ◽  
Structure Model ◽  
Model Following Control ◽  
Model Following

Variable-Structure Linear-Model-Following Control of Manipulators

1993 ◽  
Vol 207 (1) ◽  
pp. 35-45 ◽  
Author(s):  
S K Tso ◽  
M L Lai ◽  
P L Law
Keyword(s):  
Linear Model ◽  
High Performance ◽  
Robot Manipulators ◽  
Variable Structure ◽  
Structure Model ◽  
Model Following Control ◽  
Model Following ◽  
Non Linear

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.

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