Tracking control of robot manipulators with parametric uncertainty

K. K. Shyu, P. H. Chu, L. J. Shang

Research output: Contribution to journalArticlepeer-review

Abstract

An adaptive sliding mode controller for robot manipulators with parametric uncertainty whose upper bound was unknown was derived in this work. It was shown by simulation, without knowing the bounds of the uncertainty, that the presented adaptive sliding mode controller can not only stabilize the robot manipulators but can also reduce the chattering phenomena. Moreover, the tracking errors of the robot manipulators can be guaranteed to converge to zero, which prevents the divergence of the estimation low for the unknown uncertainty bound.

Original languageEnglish
Pages (from-to)253-259
Number of pages7
JournalJournal of the Chinese Institute of Electrical Engineering, Transactions of the Chinese Institute of Engineers, Series E/Chung KuoTien Chi Kung Chieng Hsueh K'an
Volume3
Issue number3
StatePublished - Aug 1996

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