Robust variable structure and 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	2014-03-01T02:47:59Z
dc.date.available	2014-03-01T02:47:59Z
dc.date.issued	1991	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/33485
dc.subject	Adaptive Control	en
dc.subject	Continuous Variable	en
dc.subject	Error Bound	en
dc.subject	Steady State	en
dc.subject	Structural Control	en
dc.subject	Theoretical Analysis	en
dc.subject	Variable Structure	en
dc.title	Robust variable structure and adaptive control of single-arm dynamics	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/CDC.1991.261323	en
heal.identifier.secondary	http://dx.doi.org/10.1109/CDC.1991.261323	en
heal.publicationDate	1991	en
heal.abstract	The authors present a control law which is a combination of the continuous variable structure control (VSC) law and the switching-σ modification control law for the control of a single-arm manipulator with rigid links holding a rigid object. In the analysis, it is shown that this new control law has a smaller error bound than a simply continuous VSC law	en
heal.journalName	Conference on Decision and Control	en
dc.identifier.doi	10.1109/CDC.1991.261323	en