Title :
Microprocessor-Based Decoupled Control of Manipulator Using Modified Model-Following Method with Sliding Mode
Author :
Hiroi, Masato ; Hojo, Masayuki ; Hashimoto, Yukio ; Abe, Yoshikazu ; Dote, Yasuhiko
Author_Institution :
Electronic Engineering Department, Muroran Institute of Technology, Muroran, 050 Japan.
fDate :
5/1/1986 12:00:00 AM
Abstract :
A methodology of discontinuous feedback and continuous feedforward control is developed to achieve accurate decoupled tracking in a class of nonlinear, time varying systems in the presence of disturbances, parameter variations and nonlinear dynamic interactions. The method is based on an improved variable structure control with a sliding mode.
Keywords :
Control systems; Delay; Feedback; Manipulator dynamics; Nonlinear control systems; Nonlinear systems; Pulse width modulation; Sliding mode control; Trajectory; Variable structure systems;
Journal_Title :
Industrial Electronics, IEEE Transactions on
DOI :
10.1109/TIE.1986.350202
