• DocumentCode
    801621
  • Title

    Microprocessor-Based Decoupled Control of Manipulator Using Modified Model-Following Method with Sliding Mode

  • Author

    Hiroi, Masato ; Hojo, Masayuki ; Hashimoto, Yukio ; Abe, Yoshikazu ; Dote, Yasuhiko

  • Author_Institution
    Electronic Engineering Department, Muroran Institute of Technology, Muroran, 050 Japan.
  • Issue
    2
  • fYear
    1986
  • fDate
    5/1/1986 12:00:00 AM
  • Firstpage
    110
  • Lastpage
    113
  • Abstract
    A methodology of discontinuous feedback and continuous feedforward control is developed to achieve accurate decoupled tracking in a class of nonlinear, time varying systems in the presence of disturbances, parameter variations and nonlinear dynamic interactions. The method is based on an improved variable structure control with a sliding mode.
  • Keywords
    Control systems; Delay; Feedback; Manipulator dynamics; Nonlinear control systems; Nonlinear systems; Pulse width modulation; Sliding mode control; Trajectory; Variable structure systems;
  • fLanguage
    English
  • Journal_Title
    Industrial Electronics, IEEE Transactions on
  • Publisher
    ieee
  • ISSN
    0278-0046
  • Type

    jour

  • DOI
    10.1109/TIE.1986.350202
  • Filename
    4158700
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=801621