By Topic

A decentralized variable structure control algorithm for robotic manipulators

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
R. Morgan ; Reliance Electric, Columbus, OH, USA ; U. Ozguner

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.

Published in:

IEEE Journal on Robotics and Automation  (Volume:1 ,  Issue: 1 )