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

研究成果: Article同行評審

100 引文 斯高帕斯(Scopus)

摘要

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.

原文English
頁(從 - 到)1345-1350
頁數6
期刊IEEE Transactions on Automatic Control
35
發行號12
DOIs
出版狀態Published - 1990 十二月

All Science Journal Classification (ASJC) codes

  • 控制與系統工程
  • 電腦科學應用
  • 電氣與電子工程

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