OUTPUT SLIDING CONTROL FOR A NONLINEAR TIME-VARYING ROBOTIC MANIPULATOR

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概要

• 論文の詳細を見る

• This study focuses on the problem of robust output-sliding control design for a class of nonlinear time-varying systems. The switching functions are defined individually for each output channel and also prescribe the desired dynamics for the output errors in the sliding mode. An application to a two-degree-of-freedom manipulator indicates that the proposed switching control law drives the system state trajectories onto the chosen sliding mode in finite time and the output tracking can be achieved against a class of time-varying parameter variations and external disturbances.

• 一般社団法人日本機械学会の論文

著者

• Huang Y

  Institute Of Electrical Engineering Yuan Ze University

• Huang Ying

  Institute of Electrical Engineering, Yuan Ze University

• Kuo Tzu

  Institute of Electrical Engineering, Yuan Ze University

• Kuo T

  Institute Of Electrical Engineering Yuan Ze University

• Kuo Tzu

  Institute Of Electrical Engineering Yuan Ze University

• Huang Ying

  Institute Of Electrical Engineering Yuan Ze University

関連論文

• OUTPUT SLIDING CONTROL FOR A NONLINEAR TIME-VARYING ROBOTIC MANIPULATOR
• A DISCRETE OUTPUT SLIDING CONTROL DESIGN WITH APPLICATION TO A HIGH-SPEED RAIL SYSTEM

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