IEEE - Institute of Electrical and Electronics Engineers, Inc. - Adaptive variable structure set-point control of underactuated robots

Author(s): Chun-Yi Su ; Y. Stepanenko
Sponsor(s): IEEE Control Systems Society
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 November 1999
Volume: 44
Page Count: 4
Page(s): 2,090 - 2,093
ISSN (Paper): 0018-9286
ISSN (Online): 1558-2523
DOI: 10.1109/9.802922
Regular:

Control of underactuated mechanical systems (robots) represents an important class of control problem. In this correspondence, a model-based adaptive variable structure control scheme is... View More

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