contributor author | A. Balestrino | |
contributor author | G. De Maria | |
contributor author | L. Sciavicco | |
date accessioned | 2017-05-08T23:15:06Z | |
date available | 2017-05-08T23:15:06Z | |
date copyright | September, 1983 | |
date issued | 1983 | |
identifier issn | 0022-0434 | |
identifier other | JDSMAA-26078#143_1.pdf | |
identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/96853 | |
description abstract | The increased demand on robotic manipulator performances leads to the use of advanced control structures. An adaptive model following control system for robotic manipulators is developed via hyperstability theory. A new control algorithm is proposed that produces a discontinuous control signal, similar to a pulse amplitude signal, so that particular trajectories, referred as sliding modes, occur. The design procedure is simple and effective and always assures the asymptotic stability in the large. The decoupling properties can be achieved by a suitable choice of the reference model. A case study is developed by numerical simulation. | |
publisher | The American Society of Mechanical Engineers (ASME) | |
title | An Adaptive Model Following Control for Robotic Manipulators | |
type | Journal Paper | |
journal volume | 105 | |
journal issue | 3 | |
journal title | Journal of Dynamic Systems, Measurement, and Control | |
identifier doi | 10.1115/1.3140646 | |
journal fristpage | 143 | |
journal lastpage | 151 | |
identifier eissn | 1528-9028 | |
tree | Journal of Dynamic Systems, Measurement, and Control:;1983:;volume( 105 ):;issue: 003 | |
contenttype | Fulltext | |