Title :
Variable structure control of linearizable systems with applications to robot manipulators
Author :
Pei, Hai-Long ; Zhou, Qi-Jie
Author_Institution :
Autom. Dept., South China Univ. of Technol., Guangzhou, China
Abstract :
Results concerning the variable structure control of nonlinear systems which are exactly input-output linearizable by state feedback are presented. Stability conditions are given for the bounded tracking. The scheme is applied to control a two joint robot manipulator. The simulation results demonstrate that this scheme can achieve fast precise robot motion control under substantial modeling errors
Keywords :
feedback; nonlinear control systems; position control; robots; stability; variable structure systems; bounded tracking; linearizable systems; manipulators; modeling errors; motion control; nonlinear systems; robot; stability conditions; state feedback; variable structure control; Control systems; Linear feedback control systems; Manipulators; Motion control; Nonlinear control systems; Nonlinear systems; Robot control; Robot motion; Stability; State feedback;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.131632
