%0 Journal Article
%T Robust adaptive control of robotic manipulators based on terminal sliding mode
基于终端滑模的机械手鲁棒自适应控制
%A GAO Dao-xiang
%A XUE Ding-yv
%A
高道祥
%A 薛定宇
%J 控制理论与应用
%D 2006
%I
%X A robust adaptive controller is proposed for uncertain robotic manipulators.The controller estimates the unknown physical parameters by adaptive law and eliminates the uncertainties by terminal sliding mode control.Dead-zone adaptive control strategy is then employeed to prevent the drift of the estimated parameters.Simulation studies indicate that the sliding mode control can not only reject the disturbances,but also eliminate the drawback of the dead-zone adaptive control.Hence,a satisfactory control performance as well as a strong robustness can be achieved.
%K robotic manipulator
%K robust control
%K adaptive control
%K terminal sliding mode
%K dead-zone
机械手
%K 鲁棒控制
%K 自适应控制
%K 终端滑模
%K 死区
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=B73E1A3447E5491F&yid=37904DC365DD7266&vid=EA389574707BDED3&iid=B31275AF3241DB2D&sid=8637B749179B02B3&eid=3D9E2C3DB640307A&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=0&reference_num=16