Robust variable structure and switching-Σ adaptive control of single-arm dynamics

Chen, L; Papavassilopoulos, G

dc.contributor.author	Chen, L	en
dc.contributor.author	Papavassilopoulos, G	en
dc.date.accessioned	2014-03-01T01:42:26Z
dc.date.available	2014-03-01T01:42:26Z
dc.date.issued	1994	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/23833
dc.subject	Adaptive Control	en
dc.subject	Robust Adaptive Control	en
dc.subject	Variable Structure Control	en
dc.subject	Variable Structure	en
dc.title	Robust variable structure and switching-Σ adaptive control of single-arm dynamics	en
heal.type	journalArticle	en
heal.identifier.primary	10.1109/9.310036	en
heal.identifier.secondary	http://dx.doi.org/10.1109/9.310036	en
heal.publicationDate	1994	en
heal.abstract	In this paper, the variable structure control (VSC) and switching-σ adaptive laws are used to design a new robust controller for single-arm rigid manipulators in joint space. The controller is shown to be robust with respect to bounded disturbance. More particularly, a bound on the tracking error is determined and shown to be smaller than those resulting from the VSC)	en
heal.journalName	IEEE Transactions on Automatic Control	en
dc.identifier.doi	10.1109/9.310036	en