@inproceedings{7d96eb5c3d1d47868039fc44054b2d35,
title = "Adaptive variable structure tracking control for robot manipulators",
abstract = "Without any knowledge of robot dynamics except two properties (skew-symmetry and boundedness of robot parameter matrices), an adaptive variable structure tracking control algorithm for the tracking problem of desired trajectories is proposed. A simple adaptation law for the estimation of bounds of robot parameter matrices is presented. The construction of the adaptation law depends only on desired and actual trajectories. The global asymptotic stability for the robot systems is proven using the Lyapunov stability theorem.",
author = "Yoo, {D. S.} and Choi, {H. H.} and Chung, {M. J.}",
note = "Publisher Copyright: {\textcopyright} 1992 IEEE.; 1992 IEEE Region 10 International Conference on Technology Enabling Tomorrow: Computers, Communications and Automation towards the 21st Century, TENCON 1992 ; Conference date: 11-11-1992 Through 13-11-1992",
year = "1992",
doi = "10.1109/TENCON.1992.272045",
language = "English",
series = "IEEE Region 10 Annual International Conference, Proceedings/TENCON",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1028--1032",
booktitle = "TENCON 1992 - Technology Enabling Tomorrow",
address = "United States",
}