제어로봇시스템학회:학술대회논문집
- 1989.10a
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- Pages.1075-1079
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- 1989
Robust control of a robot manipulator by means of sliding observers
- Iwai, Z. (Kumamoto University) ;
- Mano, K. (Yatsushiro National College of Technology) ;
- Ohiomo, A. (Kumamoto Technopolis Foundation)
- Published : 1989.10.01
Abstract
In this paper a robust control design is developed for the control of a multi-joint manipulators using sliding observer. The sliding observer is introduced to estimate the angular velocity of the links under the disturbance input. The feedback control is designed by the use of the estimated value of the angular velocity .theta.. The VSS control laws is introduced to ensure the robustness concerning the disturbance inputs. To illustrate the effectiveness of the proposed method, a computer simulation is performed for a two-joint manipulator.
Keywords