ROBOTS CONTROL BY ADAPTIVE GAIN SMOOTH SLIDING OBSERVER-CONTROLLER AND PARAMETER IDENTIFICATION
An adaptive gain, smooth sliding observer-controller are developed to control uncertain parameters, -degree of freedom rigid robotic manipulators. Furthermore, an on-line, closed loop identification scheme, for time-varying parameters is proposed in order to obtain useful information despite loads,...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Universitatea Dunarea de Jos
2004-12-01
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| Series: | Analele Universităţii "Dunărea de Jos" Galaţi: Fascicula III, Electrotehnică, Electronică, Automatică, Informatică |
| Subjects: | |
| Online Access: | http://www.ann.ugal.ro/eeai/archives/2004/L5-Filipescu.pdf |