Unified approach to robust control of robot manipulator using variable structure model-reaching control strategy
Robust control of mechanical manipulators in the presence of parametric uncertainties and external disturbances has been studied. Variable structure control (VSC) theory is adopted for the design of the controller method. Depending on the characteristics of the environment which the manipulator make...
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| Other Authors: | |
| Format: | Thesis |
| Language: | English |
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2009
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| Online Access: | http://hdl.handle.net/10356/19821 |
| _version_ | 1811680278607822848 |
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| author | Yao, Bin |
| author2 | Wang, Danwei |
| author_facet | Wang, Danwei Yao, Bin |
| author_sort | Yao, Bin |
| collection | NTU |
| description | Robust control of mechanical manipulators in the presence of parametric uncertainties and external disturbances has been studied. Variable structure control (VSC) theory is adopted for the design of the controller method. Depending on the characteristics of the environment which the manipulator makes contact with, different control objectives can be achieved by a unified design approach method. |
| first_indexed | 2024-10-01T03:22:31Z |
| format | Thesis |
| id | ntu-10356/19821 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T03:22:31Z |
| publishDate | 2009 |
| record_format | dspace |
| spelling | ntu-10356/198212023-07-04T15:22:59Z Unified approach to robust control of robot manipulator using variable structure model-reaching control strategy Yao, Bin Wang, Danwei School of Electrical and Electronic Engineering DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics Robust control of mechanical manipulators in the presence of parametric uncertainties and external disturbances has been studied. Variable structure control (VSC) theory is adopted for the design of the controller method. Depending on the characteristics of the environment which the manipulator makes contact with, different control objectives can be achieved by a unified design approach method. Master of Engineering 2009-12-14T06:42:08Z 2009-12-14T06:42:08Z 1992 1992 Thesis http://hdl.handle.net/10356/19821 en NANYANG TECHNOLOGICAL UNIVERSITY 92 p. application/pdf |
| spellingShingle | DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics Yao, Bin Unified approach to robust control of robot manipulator using variable structure model-reaching control strategy |
| title | Unified approach to robust control of robot manipulator using variable structure model-reaching control strategy |
| title_full | Unified approach to robust control of robot manipulator using variable structure model-reaching control strategy |
| title_fullStr | Unified approach to robust control of robot manipulator using variable structure model-reaching control strategy |
| title_full_unstemmed | Unified approach to robust control of robot manipulator using variable structure model-reaching control strategy |
| title_short | Unified approach to robust control of robot manipulator using variable structure model-reaching control strategy |
| title_sort | unified approach to robust control of robot manipulator using variable structure model reaching control strategy |
| topic | DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics |
| url | http://hdl.handle.net/10356/19821 |
| work_keys_str_mv | AT yaobin unifiedapproachtorobustcontrolofrobotmanipulatorusingvariablestructuremodelreachingcontrolstrategy |