Globally Stable Robust Tracking of Nonlinear Systems Using Variable Structure Control and with an Application to a Robotic Manipulator

Li Chen Fu, Teh Lu Liao

Research output: Contribution to journalArticle

97 Citations (Scopus)

Abstract

The globally stable robust output tracking for a class of nonlinear systems is considered. Based only on the knowledge of the bounds on the uncertainties, a variable structure control (VSC) law is developed under the structure matching assumption. It is shown that the outputs of the closed-loop system asymptotically track given output trajectories despite the uncertainties while maintaining the boundedness of all signals inside the loop. The scheme is then applied to the control of a two degree-of-freedom (DOF) robotic manipulator with variable payload.

Original languageEnglish
Pages (from-to)1345-1350
Number of pages6
JournalIEEE Transactions on Automatic Control
Volume35
Issue number12
DOIs
Publication statusPublished - 1990 Dec

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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