Title :
Nonlinear control system for θ-r manipulator: A sliding mode strategy approach
Author :
Moldoveanu, F. ; Floroian, D. ; Boldisor, C.
Author_Institution :
Dept. of Autom., Transilvania Univ., Brasov
Abstract :
In this paper the control problem of nonlinear/uncertain dynamic systems via a variable structure systems (VSS) approach is discussed. Observation of the states of such systems is considered. The extension to an observer-controller design is illustrated using a computer simulation of a thetas-r manipulator position control.
Keywords :
manipulators; nonlinear control systems; position control; uncertain systems; variable structure systems; nonlinear control system; nonlinear-uncertain dynamic systems; position control; sliding mode strategy; thetas-r manipulator; variable structure systems; Automation; Control systems; Equations; Manipulator dynamics; Nonlinear control systems; Nonlinear systems; Observers; Scheduling algorithm; State estimation; Variable structure systems;
Conference_Titel :
Automation, Quality and Testing, Robotics, 2008. AQTR 2008. IEEE International Conference on
Conference_Location :
Cluj-Napoca
Print_ISBN :
978-1-4244-2576-1
Electronic_ISBN :
978-1-4244-2577-8
DOI :
10.1109/AQTR.2008.4588973
