Control systems of proposed type called "terminal controllers" offers increased precision and stability of robotic operations in presence of unknown and/or changing parameters. Systems include special computer hardware and software implementing novel control laws involving terminal sliding modes of motion: closed-loop combination of robot and terminal controller converge, in finite time, to point of stable equilibrium in abstract space of velocity and/or position coordinates applicable to particular control problem.


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    Title :

    Terminal Sliding Modes In Nonlinear Control Systems


    Contributors:

    Published in:

    Publication date :

    1993-05-01



    Type of media :

    Miscellaneous


    Type of material :

    No indication


    Language :

    English




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