Sliding mode control with perturbation estimation: application on DD robot mechanism /
In this work another perturbation estimation sliding mode based control algorithm is introduced for a class of robotic systems in the presence of structured and unstructured uncertainties and external disturbances. The effects of these uncertainties are combined into a single quantity. A full order...
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| Main Authors: | , |
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| Format: | Book Chapter |
| Jezik: | English |
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| Sorodne knjige/članki: | Vsebovano v:
Robotica |
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| LEADER | 01481naa a2200193 ib4500 | ||
|---|---|---|---|
| 001 | 6796566 | ||
| 003 | SI-MaCOB | ||
| 005 | 20020108000000.0 | ||
| 008 | 011220s2001 xxk|||||||||||||| ||eng c | ||
| 040 | |a KTFMB |b slv |c SI-MaIIZ |d KTFMB |e ppiak | ||
| 080 | |a 681.5 | ||
| 100 | 1 | |a Curk, Boris. |4 aut | |
| 245 | 0 | 0 | |a Sliding mode control with perturbation estimation: application on DD robot mechanism / |c Boris Curk and Karel Jezernik. |
| 300 | |a str. 641-648. | ||
| 504 | |a Summary. | ||
| 520 | |a In this work another perturbation estimation sliding mode based control algorithm is introduced for a class of robotic systems in the presence of structured and unstructured uncertainties and external disturbances. The effects of these uncertainties are combined into a single quantity. A full order device with the actuator voltages as control inputs is assumed in control design. The decentralized control scheme with only a partial state feedback is applied. A modification of the switching functions with perturbation estimation is introduced. The salient features of this approach is that the perturbations are effectively treated by a computationally straighforward procedure. The proposed controller is applied to a minimal configuration direct drive robot mechanism. | ||
| 653 | 0 | |a robotika |a nevronski regulator |a avtomatska kontrola | |
| 700 | 1 | 2 | |a Jezernik, Karel. |4 aut |
| 773 | 0 | |t Robotica |b [Print ed.] |d Cambridge : Cambridge University Press, 1983- |x 0263-5747 |g Vol. 19, Prt. 6 (2001), str. 641-648 | |