Variable structure control of linearizable systems with applications to robot manipulators

摘要

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">&gt;</ETX>