刘广瑞, 刘又午, 刘敏. 柔性机械臂末端位置的变结构模型参考自适应控制[J]. 机器人, 1998, 20(4): 296-296..
LIU Guangrei, LIU Youwu, LIU Min. VARIABLE STRUCTURE MODEL REFERENCE ADAPTIVE CONTROL OF THE END POSITION OF A FLEXIBLED MANIPULATOR ARM. ROBOT, 1998, 20(4): 296-296..
Abstract：This paper has designed the model reference self-adaptive controllaw of aflexible manipulatorusing variable structure method.We First get areference model with optimal state feedback method,then de-fine the end position error and sliding mode curve,next get the self-adaptive contro lrule.Finally made a sim-ulation study demo nstrating the correctness of the theory.
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