Name
Title | ||
|---|---|---|
Robust Sliding Composite Adaptive Control For Mechanical Manipulators With Finite Error Convergence Time |
Abstract | ||
|---|---|---|
In this paper a new robust adaptive control scheme for mechanical manipulators is presented. The design basically consists of, on the one hand, a composite adaptive controller which implements a feedback law that compensates the modelled dynamics and, on the other hand, a nonlinear sliding mode control law that overcomes the unmodelled dynamics and noise. It is proved that the resulting closed-loop system is stable and that the trajectory-tracking error converges to zero in finite time. Moreover, an upper bound of this error convergence time is calculated. Finally, the design is evaluated by means of simulations. |
Year | DOI | Venue |
|---|---|---|
2001 | 10.1080/00207720010015726 | INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE |
Keywords | Field | DocType |
adaptive control | Convergence (routing),Control theory,Nonlinear system,Control theory,Upper and lower bounds,Composite number,Adaptive control,Mathematics,Finite time,Sliding mode control | Journal |
Volume | Issue | ISSN |
32 | 9 | 0020-7721 |
Citations | PageRank | References |
4 | 0.49 | 0 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Oscar Barambones | 1 | 56 | 13.24 |
| Victor Etxebarria | 2 | 28 | 4.78 |