Nonlinear control system for θ-r manipulator: A sliding mode strategy approach

In this paper the control problem of nonlinear/uncertain dynamic systems via a variable structure systems (VSS) approach is discussed. Observation of the states of such systems is considered. The extension to an observer-controller design is illustrated using a computer simulation of a thetas-r mani...

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Bibliographic Details
Main Authors: Moldoveanu, F., Floroian, D., Boldisor, C.
Format: Conference Proceeding
Language:English
Subjects:
Control systems
Gain
Manipulators
Mathematical model
Observers
Switches
Trajectory
Online Access:Request full text
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Summary:In this paper the control problem of nonlinear/uncertain dynamic systems via a variable structure systems (VSS) approach is discussed. Observation of the states of such systems is considered. The extension to an observer-controller design is illustrated using a computer simulation of a thetas-r manipulator position control.
DOI:10.1109/AQTR.2008.4588973