勤益科大機構典藏:Item 987654321/2250
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    Please use this identifier to cite or link to this item: http://ir.lib.ncut.edu.tw/handle/987654321/2250


    Title: Variable-Structure-Variable-Gain Control of Robot Manipulators
    Authors: 洪清寶;白能勝;郭英哲;喻國湳
    Contributors: 電機工程系
    Department of Electrical Engineering
    Keywords: 可變結構控制;抖動消除;機器臂
    Date: 2002-12
    Issue Date: 2008-12-23 10:25:39 (UTC+8)
    Publisher: 勤益科技大學
    Abstract: 本文提出可變增益可變結構控制器之設計,以應用於系統參數變動劇烈之機器臂控制。不同於傳統可變結構控制器以固定的幾組控制器進行切換,本文所提出的控制器參數係藉由相位平面幾何即時的運算產生。當系統軌線離所設計滑動平面尚遠時,直接以固定增益參數迫使系統朝滑動平面移動,進入滑動區時,則以可變增益進行控制器參數的產生。經由理論及實驗的驗證,證明了本文所提出方法的有效性。
    Relation: 勤益學報 20(2) p.151-166
    Appears in Collections:[National CHIN-YI University of Technology] 勤益學報

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