Referenced Items are not available for this document.
A sliding-mode controller is proposed for the simultaneous position and force control of constrained robot manipulators with parametric uncertainties. Based on this controller, the trajectories of the closed-loop system can reach a stable sliding surface in finite time. Under this condition, the asymptotic convergence of the motion error and force error can be successfully ensured with improved results compared to previous studies
Published in:
Automatic Control, IEEE Transactions on
(Volume:43
,
Issue:
8
)
Date of Publication: Aug 1998
- Page(s):
- 1101 - 1103
- ISSN :
- 0018-9286
- INSPEC Accession Number:
- 6002265
- Digital Object Identifier :
- 10.1109/9.704980
- Product Type:
- Journals & Magazines
- Date of Current Version :
- 06 August 2002
- Issue Date :
- Aug 1998
- Sponsored by :
- IEEE Control Systems Society
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