2000 26th Annual Conference of the IEEE Industrial Electronics Society. IECON 2000. 2000 IEEE International Conference on Indus
DOI: 10.1109/iecon.2000.973161
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Time-optimal sliding mode control of robot manipulator

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Cited by 7 publications
(3 citation statements)
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“…2. In theory, this TOC takes on the switching curve as its sliding surface when the initial state is driven to that curve with an extreme value of the control signal [11] [18]. Therefore, this TOC method has the following advantages over a linear controller: 1) the state arrives at the steady state in minimal and finite time [19]; and 2) superior disturbance rejection robustness against dynamic uncertainties [20].…”
Section: Introductionmentioning
confidence: 99%
“…2. In theory, this TOC takes on the switching curve as its sliding surface when the initial state is driven to that curve with an extreme value of the control signal [11] [18]. Therefore, this TOC method has the following advantages over a linear controller: 1) the state arrives at the steady state in minimal and finite time [19]; and 2) superior disturbance rejection robustness against dynamic uncertainties [20].…”
Section: Introductionmentioning
confidence: 99%
“…Many control methods have been proposed to control the flexible manipulators employing PD control [3], adaptive control [4,5], computed torque method [6], robust control [7], sliding mode control [26] etc.…”
Section: Introductionmentioning
confidence: 99%
“…Therefore, improving the control performance under disturbances becomes a major issue .The control aim of motion control for flexible manipulator is to ensure the end position track the given trajectory accurately under the action of control torque of each joint. Many control methods have been proposed to control the flexible manipulators employing PD control, 3 adaptive control, 4,5 computed torque method, 6 robust control, 7 sliding mode control 21 etc.…”
Section: Introductionmentioning
confidence: 99%