화학공학소재연구정보센터
Automatica, Vol.30, No.9, 1497-1500, 1994
Adaptive Sliding Mode Control of Robot Manipulators - General Sliding Manifold Case
Based on a general form of a sliding manifold, a design strategy for the adaptive sliding mode control is presented for robot systems. It is shown that without any prior knowledge of the manipulator parameters under the deterioration of a class of state-dependent input disturbances, the controller guarantees the occurrence of the sliding mode on the general sliding manifold.