带驱动棱镜机械手的自适应滑模控制

International Workshop on Variable Structure Systems, 2006. VSS'06. Pub Date : 2006-06-05 DOI:10.1109/VSS.2006.1644547

M. Tanaka, Yaodong Pan, K. Furuta

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引用次数: 4

摘要

提出了一种新型棱镜机械手的自适应控制器。该自适应控制器采用滑模设计，实现在线参数估计机制，并结合估计机制自适应确定控制输入。信号的导数由自适应vs微分器估计

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Adaptive sliding mode control of belt driven prismatic manipulator

This paper presents an adaptive controller for a new type prismatic manipulator. This adaptive controller is designed with the sliding mode, by which on-line parameters estimation mechanism is implemented and the control input is determined adaptively combining the estimation mechanism. The derivative of the signal is estimated by an adaptive VS-differentiator

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来源期刊

International Workshop on Variable Structure Systems, 2006. VSS'06.

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0.00%

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