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• W2676208369 abstract "Abstract The design of a variable structure model-following controller is considered. By specifying the structure of a model plant and using the variable structure control (VSC) approach, an adaptive controller which forces the error between the model and plant states to zero, can be designed. A continuous nonlinear control yields robust performance, which is insensitive to a class of variations in the plant parameters and external disturbances. The design technique incorporates an eigenvalue/eigenvector assignment algorithm available in an on-line CAD package, VASSYD. A controller is designed for a typical robot arm to demonstrate the method. Using the nominal robot parameters a deterministic controller is obtained which yields effective decoupling between the robot manipulator’s subsystems. Simulation results for various values of plant parameters are presented. The robot tracks the states of the model plant, which in turn follows the desired trajectories, very closely. This indicates the inherent robustness and effectiveness of the VSC approach (and related techniques) in the deterministic control of uncertain systems." @default.
• W2676208369 created "2017-06-30" @default.
• W2676208369 creator A5019610383 @default.
• W2676208369 date "1988-08-01" @default.
• W2676208369 modified "2023-09-26" @default.
• W2676208369 title "Variable Structure Model-following Control of a Robot Manipulator" @default.
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• W2676208369 doi "https://doi.org/10.1016/s1474-6670(17)54984-8" @default.
• W2676208369 hasPublicationYear "1988" @default.
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