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• W2118884105 abstract "In robotic manipulators there are many uncertainties such as dynamic parameters (eg., inertia and payload conditions), dynamical effects (e.g., complex nonlinear frictions), and unmodeled dynamics. Traditional linear controllers have many difficulties in treating these uncertainties. To overcome this problem, a robust adaptive control for robotic manipulator based on chattering free variable structure system is proposed. Conventional variable structure control (VSC) has important drawbacks limiting its practical applicability, such as chattering and excessive control energy. To alleviate the problems, the discontinuous part of the control signals in the conventional VSC are substituted by adaptive gain. Within this scheme, the adaptive gain are employed to approximate the unknown system's uncertainties. The key feature of the controller is that prior knowledge of the system uncertainties is not required to guarantee the stability. Moreover, a theoretical proof of the stability and convergence of the proposed scheme using Lyapunov method is presented. To demonstrate the effectiveness of the proposed approach, a practical situation in robot control is simulated." @default.
• W2118884105 created "2016-06-24" @default.
• W2118884105 creator A5033764991 @default.
• W2118884105 creator A5052374697 @default.
• W2118884105 date "2009-08-01" @default.
• W2118884105 modified "2023-09-23" @default.
• W2118884105 title "Robust adaptive control for robotic manipulator based on chattering free variable structure system" @default.
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• W2118884105 doi "https://doi.org/10.1109/iceei.2009.5254779" @default.
• W2118884105 hasPublicationYear "2009" @default.
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