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Title: Robust quasi-SMC of mechanical manipulators with dual-model pre-compensation
Authors: Zhu, H.A.
Teo, C.L. 
Hong, G.S. 
Issue Date: 1993
Source: Zhu, H.A.,Teo, C.L.,Hong, G.S. (1993). Robust quasi-SMC of mechanical manipulators with dual-model pre-compensation. American Control Conference : 2511-2515. ScholarBank@NUS Repository.
Abstract: A simple but robust and reliable sliding mode control (SMC) scheme for mechanical manipulators is proposed in this paper. A dual-model-based pre-compensating structure is first used to decouple and linearize the highly complicated motor-manipulator dynamics. Then a linear state-feedback control law is used as the closed-loop control, which not only ensures that the resulting system has global high-performance but also provides the system with extra redundancy for closed-loop reliability. Finally, a very simple SMC is applied to control the resulting error dynamics of the control system.
Source Title: American Control Conference
ISBN: 0780308611
Appears in Collections:Staff Publications

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