제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
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- Pages.324-327
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- 1994
Design of an new variable structure model following control system for robot manipulators
- Park, Kang-Bark (Department of Electrical Engineering, Korea Advanced Institute of Science and Technology) ;
- Lee, Ju-Jang (Department of Electrical Engineering, Korea Advanced Institute of Science and Technology)
- 발행 : 1994.10.01
초록
In this paper, a new design method of variable structure model following control system(VSMFCS) for robot manipulators is proposed. The proposed controller overcomed reaching phase problem by using function augmenting scheme to the sliding surface. Therefore, it can be guaranteed that the overall system always has a robust property against parameter variations and external disturbances. Furthermore, the proposed controller does not use the model state, .chi.
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