MANIPULATION
Variable structure control of linearizable systems with applications to robot manipulators
Hailong Pei, Qi-Jie Zhou
- Year
- 2002
- Citations
- 11
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.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
Keywords
Bounded functionControl theory (sociology)Nonlinear systemScheme (mathematics)Robot manipulatorVariable (mathematics)Stability (learning theory)Computer scienceRobotVariable structure control
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