Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/72442
Title: A learning variable structure controller of a flexible one-link manipulator
Authors: Cao, W.-J.
Xu, J.-X. 
Issue Date: 2000
Source: Cao, W.-J.,Xu, J.-X. (2000). A learning variable structure controller of a flexible one-link manipulator. Proceedings of the IEEE Conference on Decision and Control 4 : 4006-4011. ScholarBank@NUS Repository.
Abstract: In this paper, tip regulation of a flexible one-link manipulator by Learning Variable Structure Control (LVSC) is investigated. Sliding surface is designed according to a selected reference model which relocates system poles to be negative real ones, hence link vibration is eliminated. The proposed LVSC incorporates a learning mechanism to improve regulation accuracy. Rigorous proof shows: the state's tracking error sequence converges uniformly to zero; the uniformly bounded learning control sequence converges to the equivalent control almost everywhere. A more detailed journal version of this paper is presented in [1].
Source Title: Proceedings of the IEEE Conference on Decision and Control
URI: http://scholarbank.nus.edu.sg/handle/10635/72442
ISSN: 01912216
Appears in Collections:Staff Publications

Show full item record
Files in This Item:
There are no files associated with this item.

Page view(s)

37
checked on Dec 16, 2017

Google ScholarTM

Check


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.