Robust variable structure and adaptive control of multi-arm dynamics

Chen, L; Papavassilopoulos, G

dc.contributor.author	Chen, L	en
dc.contributor.author	Papavassilopoulos, G	en
dc.date.accessioned	2014-03-01T02:47:59Z
dc.date.available	2014-03-01T02:47:59Z
dc.date.issued	1991	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/33484
dc.subject	Adaptive Control	en
dc.subject	Boundary Layer	en
dc.subject	Variable Structure	en
dc.title	Robust variable structure and adaptive control of multi-arm dynamics	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ICSMC.1991.169811	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ICSMC.1991.169811	en
heal.publicationDate	1991	en
heal.abstract	The authors have analyzed and simulated the combination of the continuous VSC and the switching-sigma modification control laws for multi-arm manipulators with rigid links holding a rigid object. Although the simulations show that the Cartesian position error is small if the boundary layer is small and/or the estimated resultant force/torque is close to the desired resultant force/torque even if the	en
heal.journalName	IEEE International Conference on Systems, Man, and Cybernetics	en
dc.identifier.doi	10.1109/ICSMC.1991.169811	en