Volume 14 Issue 1
Jan.  1992
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MA Xian, YANG Hua, HUANG Liang. ALGORITHM AND SIMULATION WITH NONLINEAR SMOOTHING VARIABLE STRUCTURE CONTROL FOR ROBOT MANIPULATOR[J]. ROBOT, 1992, 14(1): 12-18.
Citation: MA Xian, YANG Hua, HUANG Liang. ALGORITHM AND SIMULATION WITH NONLINEAR SMOOTHING VARIABLE STRUCTURE CONTROL FOR ROBOT MANIPULATOR[J]. ROBOT, 1992, 14(1): 12-18.
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ALGORITHM AND SIMULATION WITH NONLINEAR SMOOTHING VARIABLE STRUCTURE CONTROL FOR ROBOT MANIPULATOR

  • Dept of Autocontrol, Northeast Institute of Technology, Shenyang

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  • Received Date: June 06, 1990
  • Published Date: January 14, 1992
    Graphical Abstract
    • Abstract
  • This paper introduces an imprcvement method of smoothing performance for nonlinear variablestructure sliding mode control.It also presents implementation of trajectory following to robotmanipulator movement.Finally the paper presents measures to reduce static position error at the end pointof manipulator.
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    • References (4)
  • [1]
    Slotione J J E. Implementaion of VSS control to robotic mamipulators-smoothing modification. IEEE Trans Ind Elec, 1989; IE-36:(3)
    [2]
    Namudun C, Sen P C. A servo-control system using a self controlled syschronous motor (SCSM) with sliding mode controller. IEEE Tran Ind APPL, 1987; IA-23 (2)
    [3]
    Hashimoto H et al. Brushless servo motor coatrol using variable structure approach: IEEE Tran Ind APPL, 1988;IA-24 (1)
    [4]
    佟纯厚.近代交流调速.冶金工业出版社,1985
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