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Sliding mode speed auto-regulation technique for robotic tracking

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Garelli, F.; Gracia Calandin, LI.; Sala, A.; Albertos Pérez, P. (2011). Sliding mode speed auto-regulation technique for robotic tracking. Robotics and Autonomous Systems. 59(7-8):519-529. doi:10.1016/j.robot.2011.03.007

Por favor, use este identificador para citar o enlazar este ítem: http://hdl.handle.net/10251/60731

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Title: Sliding mode speed auto-regulation technique for robotic tracking
Author: Garelli, Fabricio Gracia Calandin, Luis Ignacio Sala, Antonio Albertos Pérez, Pedro
UPV Unit: Universitat Politècnica de València. Instituto Universitario de Automática e Informática Industrial - Institut Universitari d'Automàtica i Informàtica Industrial
Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica
Issued date:
In advanced industry manufacturing involving robotic operations, the required tasks can be frequently formulated in terms of a path or trajectory tracking. In this paper, an approach based on sliding mode conditioning of ...[+]
Subjects: Input saturation , Multivariable systems , Robotic tracking , Sliding mode , Amplitude estimation , Autoregulations , Conventional analytical , Distinctive features , First-order filters , Input constraints , Lower bounds , Online computations , Parametrizations , Path tracking , Priori knowledge , Robot model , Robot parameters , Sampling period , Sliding mode conditioning , Sliding modes , Sufficient conditions , Tracking speed , Trajectory tracking , Robotics , Robots
Copyrigths: Reserva de todos los derechos
Robotics and Autonomous Systems. (issn: 0921-8890 )
DOI: 10.1016/j.robot.2011.03.007
Publisher version: http://dx.doi.org/10.1016/j.robot.2011.03.007
Project ID:
Generalitat Valenciana (Spain) PROM-ETEO 2008/088
Generalitat Valenciana (Spain) PROM-ETEO 2008/088
Spanish Government (Spain) DPI2008-06731-C02-01
Technical University of Valencia (Spain)
Argentinian Government (UNLP) 111127
Argentinian Government (CONICET) PIP 112-200801-0
Argentinian Government (ANPCyT) PICT 2007 00535
This research is partially supported by DISICOM project PROM-ETEO 2008/088 of Generalitat Valenciana (Spain), research project DPI2008-06731-C02-01 of the Spanish Government (Spain), Technical University of Valencia (Spain), ...[+]
Type: Artículo

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