Detalhes bibliográficos
| Autor(a) principal: |
Machado, J. A. Tenreiro |
| Data de Publicação: |
1997 |
| Tipo de documento: |
Livro
|
| Idioma: |
eng |
| Título da fonte: |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
| Texto Completo: |
http://hdl.handle.net/10400.22/8812
|
Resumo: |
This article studies the variable structure control of robot manipulators with joints having flexibility and backlash. A second order reference model and a smooth control law eliminate the reaching phase problems and the chattering usually present in the sliding mode. The results show a remarkable improvement of the stability over conventional variable structure controllers, while the algorithm maintains a low computational load. |