IEEE Journal on Robotics and Automation · 1985 · 199 citations · 7 references
EngineeringMechanical EngineeringRobotics EngineeringRobot ControlRobot DynamicsRoboticsControl TheoryDecentralized ControlManipulator ControlManipulator DynamicsMotion ControlRobot ManipulatorsControl Algorithm DevelopmentDynamics Of Robotic ManipulatorsManipulator Motion ControlNon-ideal EffectsPosition ControlRobot Manipulator Equations Of MotionRobot Motion ControlSliding Mode Control
A decentralized variable structure control algorithm is developed for robotic manipulators to cause sliding modes to exist. New approaches are used to reach the sliding mode and to reduce non-ideal characteristics while in the sliding mode. Both position control and trajectory following are examined through two-link and three-link digital simulations.
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