NDLI: Controle por modos deslizantes de sistemas multivariáveis não-lineares incertos aplicado à servovisão robótica não-calibrada

Content Provider	Semantic Scholar
Author	Oliveira, Tiago Roux Peixoto, Alessandro Jacoud
Copyright Year	2011
Abstract	An output-feedback sliding mode controller using monitoring functions was recently introduced for linear uncertain single-input-single-output (SISO) systems with unknown control direction. Here, a generalization is developed for multivariable systems with strong nonlinearities. The monitoring scheme is extended to handle the uncertainty of the plant high frequency gain matrix. Our strategy provides global stability properties and exact output tracking. Experimental results with a robotics visual servoing system, using a fixed but uncalibrated camera, illustrate the robustness and practical viability of the proposed scheme.
Starting Page	201
Ending Page	213
Page Count	13
File Format	PDF HTM / HTML
DOI	10.1590/S0103-17592011000200008
Alternate Webpage(s)	http://www.scielo.br/pdf/ca/v22n2/08.pdf
Alternate Webpage(s)	https://doi.org/10.1590/S0103-17592011000200008
Volume Number	22
Language	English
Access Restriction	Open
Content Type	Text
Resource Type	Article

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