슬라이딩 모드를 이용한 로봇 메니플레이터의 추적제어기

摘要

Abstract - In this paper, we design a Continuous Variab1e Structure Coutroller which can coutrol robot manipulators to follow the desired plauued trajectory witb accuracy and robustness, and improve continuity and robustness of variable stmcture coutrol, based on disturbance observer. We also analyze the stability the proposed algorithm and then verify tbe usefuiuess and performance through simulation stuies.