%0 Journal Article
%T 机器人操作器有限时间跟踪中继切换控制
%A 武玉强
%A 宗广灯
%J 自动化学报
%P 412-418
%D 2005
%X ？Aglobalrelayswitchingcontrolschemewithfinitetimeconvergence(FTC)isproposedformulti-jointrigidroboticmanipulatorsystemswithuncertaindynamics.Forageneralfinitetimecontroller,thecontrolsignalsmaytendtoinfinityinfinitetimewhentheinitialstatesofthesystemareinsomespecifiedarea,causingthesingularityproblemoftheclosed-loopsystemandfiniteescape.Thedesignschemeforfinitetimetrackingcontrolusesarelayswitchingcontrolmethodsothattheboundednessofthecontrolsignalisguaranteedandthesingularityphenomenonisavoided.Thevalidityofourschemeisdemonstratedbysimulationresults.
%K Finitetimetracking
%K relayswitchingcontroller
%K terminalslidingmode(TSM)
%K variablestructurecontrol
%U http://www.aas.net.cn/CN/abstract/abstract15903.shtml