Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 2000.07d
- /
- Pages.2898-2900
- /
- 2000
A Sliding Mode Controller with Bound Estimation for Robot Manipulator
로봇 매니퓰레이터에서 바운드 예측을 갖는 슬라이딩 모드 제어기 설계
- Lee, Chang-Min (Pusan National Univ.) ;
- Yun, Won-Sik (Pusan National Univ.) ;
-
Park, Sung-Jun
(Dong-myung college)
;
-
Kim, Cheul-U
(Pusan National Univ.)
- Published : 2000.07.17
Abstract
A sliding mode control algorithm combined with an adaptive scheme, which is used to estimate the unknown parameter bounds. is developed for the trajectory control of robot manipulators. Simulated results show the validity to accurate tracking capability and robust performance.
Keywords