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|Title:||A learning variable structure controller of a flexible one-link manipulator|
|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 .|
|Source Title:||Proceedings of the IEEE Conference on Decision and Control|
|Appears in Collections:||Staff Publications|
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