Abstract

In this paper, the variable structure control (VSC) and switching adaptive control (SAC) law are used to design a robust controller for single-arm rigid manipulators in joint space. The controller is shown to be robust with respect to bounded disturbance and its analysis can conclude the estimated parameter will not drift to infinity in presence of bounded disturbance. Besides, the joint torques have no chattering phenomena since VSC laws have not been used in the proposed control law.

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call

Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.