%0 Journal Article
%T The Adaptive Model Following Variable Structure Control for Robot Manipulators<br>机器人自适应模型跟踪变结构控制
%A Su Chunyi
%A TPLeung
%A Zhou Qijie
%A <br>苏春翌
%A 梁天培
%A 周其节
%J 自动化学报
%D 1991
%I 
%X An adaptive model following variable structure control scheme for robot manipulator is presented in this paper. It has the prescribed transient response, and the control law can be expressed in united formula and the information on possible size of system parameters is not required. Thus, it can be easily extended to the case of higher number of links.
%K Robot
%K variable structure control
%K adaptation
%K model following<br>机器人
%K 变结构控制
%K 模型跟踪
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=E76622685B64B2AA896A7F777B64EB3A&aid=CC3062C8650A4B7198DF32EB4411972A&yid=116CB34717B0B183&vid=BCA2697F357F2001&iid=E158A972A605785F&sid=BA48F0B914ED890A&eid=DDEED1BDDBFAA8A7&journal_id=0254-4156&journal_name=自动化学报&referenced_num=1&reference_num=3