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Full-Text Articles in Computer Engineering
Book Review: Reasoning Agents In A Dynamic World: The Frame Problem. Kenneth M. Ford And Patrick J. Hayes, Eds.,, Jozsef A. Toth
Book Review: Reasoning Agents In A Dynamic World: The Frame Problem. Kenneth M. Ford And Patrick J. Hayes, Eds.,, Jozsef A. Toth
Jozsef A Toth Ph.D.
No abstract provided.
Robust Decentralised Variable Structure Control For Rigid Robotic Manipulators, Thasapalan Kuhan
Robust Decentralised Variable Structure Control For Rigid Robotic Manipulators, Thasapalan Kuhan
Theses : Honours
In this thesis, the problem of robust variable structure control for non-linear rigid robotic manipulators is investigated. Robustness and convergence results are presented for variable structure control systems of robotic manipulators with bounded unknown disturbances, nonlinearities, dynamical couplings and parameter uncertainties. The major outcomes of the work described in this thesis are summarised as given below. The basic variable structure theory is surveyed, and some basic ideas such as sliding mode designs, robustness analysis and control1er design methods for linear or non-linear systems are reviewed. Three recent variable structure control schemes for robotic manipulators are discussed and compared to highlight …