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.
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Computer Science Applications
- Electrical and Electronic Engineering