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		题名	作者	年代	出处	被引量
	1	Sliding Mode Variable Structure Control for Visual Servoing System显示文摘A visual servoing tracking controller is proposed based on the sliding mode control theory in order to achieve strong robustness against parameter variations and external disturbances. A sliding plane with time delay compensation is presented by the pre-estimate of states. To reduce the chattering of the sliding mode controller, a modified exponential reaching law and hyperbolic tangent function are applied to the design of visual controller and robot joint controller. Simulation results show that the visual servoing control scheme is robust and has good tracking performance.	Fei Li Hua-Long Xie	2010	International Journal of Automation and computing2010，7，3：	5
	2	A Robust Tracking Controller for Electrically Driven Robot Manipulators: Stability Analysis and Experiment显示文摘In this paper, a robust controller for electrically driven robotic systems is developed. The controller is designed in a backstepping manner. The main features of the controller are: 1) Control strategy is developed at the voltage level and can deal with both mechanical and electrical uncertainties. 2) The proposed control law removes the restriction of previous robust methods on the upper bound of system uncertainties. 3) It also benefits from global asymptotic stability in the Lyapunov sense. It is worth to mention that the proposed controller can be utilized for constrained and nonconstrained robotic systems. The effectiveness of the proposed controller is verified by simulations for a two link robot manipulator and a four-bar linkage. In addition to simulation results,experimental results on a two link serial manipulator are included to demonstrate the performance of the proposed controller in tracking a given trajectory.	Mohamadreza Homayounzade Mehdi Keshmiri Mostafa Ghobadi	2015	International Journal of Automation and computing2015，12，1：	0

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