The Proceedings of the International Conference on Motion and Vibration Control
Online ISSN : 2424-2977
6.1
会議情報
OUTPUT SLIDING CONTROL FOR A NONLINEAR TIME-VARYING ROBOTIC MANIPULATOR
Ying J. HuangTzu C. Kuo
著者情報
会議録・要旨集 フリー

p. 189-193

詳細
抄録
This study focuses on the problem of robust output-sliding control design for a class of nonlinear time-varying systems. The switching functions are defined individually for each output channel and also prescribe the desired dynamics for the output errors in the sliding mode. An application to a two-degree-of-freedom manipulator indicates that the proposed switching control law drives the system state trajectories onto the chosen sliding mode in finite time and the output tracking can be achieved against a class of time-varying parameter variations and external disturbances.
著者関連情報
© 2002 The Japan Society of Mechanical Engineers
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