Title :
Combined Observer-Controller Synthesis for Nonlinear/Uncertain Dynamical Systems
Author :
Bruce L. Walcott;Stanislaw H. Zak
Author_Institution :
School of Electrical Engineering, Purdue University, West Lafayette, IN, 47907
fDate :
6/1/1987 12:00:00 AM
Abstract :
Control of a class of nonlinear/uncertain systems is discussed via a variable structure systems (VSS) approach. Observation of the states of such systems is also considered. The natural extension to an observer-controller design is illustrated using an example of a ?-r manipulator. Finally, the aspects of hardware implementation of the proposed observer-controller are analyzed.
Keywords :
"Control systems","Variable structure systems","Nonlinear control systems","Uncertainty","Uncertain systems","Scheduling algorithm","Force control","Control nonlinearities","Nonlinear systems","Control system synthesis"
Conference_Titel :
American Control Conference, 1987
