A decentralized variable structure control algorithm for robotic manipulators

1985198 citationsJournal Article

Authors

Robert Morgan · The Ohio State University

Ümi̇t Özgüner · The Ohio State University

Abstract

A decentralized variable structure control algorithm is developed for robotic manipulators to cause sliding modes to exist. New approaches are used to reach the sliding mode and to reduce non-ideal characteristics while in the sliding mode. Both position control and trajectory following are examined through two-link and three-link digital simulations.

Topics & Keywords

Adaptive Control of Nonlinear Systems Robotic Mechanisms and Dynamics Iterative Learning Control Systems

Publication Details

Published in: IEEE Journal on Robotics and Automation

Volume 1, Issue 1, pp. 57-65

DOI: 10.1109/jra.1985.1086998

Field-Weighted Citation Impact: 21.31

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A decentralized variable structure control algorithm for robotic manipulators

Authors

Abstract

Topics & Keywords

Publication Details