DocumentCode
3219736
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
fYear
1991
fDate
9-11 Apr 1991
Firstpage
522
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location
Sacramento, CA
Print_ISBN
0-8186-2163-X
Type
conf
DOI
10.1109/ROBOT.1991.131632
Filename
131632
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