Variable-Structure Linear-Model-Following Control

This paper describes the design and performance of a variable-structure model-following method as applied to highly nonlinearplants. The method is particularly appealing to the control of high-performance robot manipulators. The design and performance issues are discussed with reference to implement...

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Bibliographic Details
Published inIFAC Proceedings Volumes Vol. 26; no. 2; pp. 137 - 140
Main Authors Tso, S.K., Lai, M.L., Law, P.L.
Format Journal Article
LanguageEnglish
Published 01.07.1993
Subjects
model following control
Nonlinear control systems
robots
variable structure control
Nonlinear control systems
model following control
robots
variable structure control
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Summary:This paper describes the design and performance of a variable-structure model-following method as applied to highly nonlinearplants. The method is particularly appealing to the control of high-performance robot manipulators. The design and performance issues are discussed with reference to implementing a controller to a commercial manipulator as a case study.
ISSN:1474-6670
DOI:10.1016/S1474-6670(17)48240-1