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Terminal Sliding Modes In Nonlinear Control SystemsControl systems of proposed type called "terminal controllers" offers increased precision and stability of robotic operations in presence of unknown and/or changing parameters. Systems include special computer hardware and software implementing novel control laws involving terminal sliding modes of motion: closed-loop combination of robot and terminal controller converge, in finite time, to point of stable equilibrium in abstract space of velocity and/or position coordinates applicable to particular control problem.
Document ID
19930000303
Acquisition Source
Legacy CDMS
Document Type
Other - NASA Tech Brief
Authors
Venkataraman, Subramanian T.
(Caltech)
Gulati, Sandeep
(Caltech)
Date Acquired
August 16, 2013
Publication Date
May 1, 1993
Publication Information
Publication: NASA Tech Briefs
Volume: 17
Issue: 5
ISSN: 0145-319X
Subject Category
Mathematics And Information Sciences
Report/Patent Number
NPO-18584
Accession Number
93B10303
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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