Control of rigid robot manipulators via combination of adaptive sliding mode control and compensated inverse dynamics approach

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Title:	Control of rigid robot manipulators via combination of adaptive sliding mode control and compensated inverse dynamics approach
Authors:	Shyu,KK;Chu,PH;Shang,LJ
Contributors:	電機工程研究所
Keywords:	ROBUST-CONTROL
Date:	1996
Issue Date:	2010-06-29 20:21:59 (UTC+8)
Publisher:	中央大學
Abstract:	A new output tracking control method for rigid robot manipulators is developed via the combination of adaptive sliding mode control and the compensated inverse dynamics approach. The innovative compensated inverse dynamics approach is applied to rigid robot systems and no estimation of the inertia matrix, which avoids the inverse problem of the time-varying inertia matrix, is involved. The adaptive sliding mode control scheme is used to take into account the unknown but bounded parameter uncertainties and external disturbances. The performance of the proposed control method is demonstrated by simulation.
Relation:	IEE PROCEEDINGS-CONTROL THEORY AND APPLICATIONS
Appears in Collections:	[Graduate Institute of Electrical Engineering] journal & Dissertation

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