Cart (Loading....) | Create Account
Close category search window

A new controller design for manipulators using the theory of variable structure systems

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
$31 $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)
Yeung, K.S. ; Dept. of Electr. Eng., Texas Univ., Arlington, TX, USA ; Chen, Y.P.

A controller design for manipulators using the theory of variable-structure systems (VSS) is presented to deal with the set-point regulation problem. The major obstacle of VSS vector control with strong dynamic coupling is overcome for a class of systems with positive symmetric inertia matrices. Parameter variations can easily be considered in the design methodology, which is readily extendable to a higher number of links. The problem of chattering is solved by the introduction of sliding sectors

Published in:

Automatic Control, IEEE Transactions on  (Volume:33 ,  Issue: 2 )

Date of Publication:

Feb 1988

Need Help?

IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.