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Adaptive variable structure set-point control of underactuated robots

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2 Author(s)
Chun-Yi Su ; Dept. of Mech. Eng., Victoria Univ., BC, Canada ; Stepanenko, Yury

Control of underactuated mechanical systems (robots) represents an important class of control problem. In this correspondence, a model-based adaptive variable structure control scheme is introduced, where the uncertainty bounds only depend on the inertia parameters of the system. Global asymptotic stability is established in the Lyapunov sense. Numerical simulations are conducted to validate the theoretical analysis

Published in:

Automatic Control, IEEE Transactions on  (Volume:44 ,  Issue: 11 )