Title :
Variable structure control of nonlinear systems: a new approach
Author :
Gao, Weibing ; Hung, James C.
Author_Institution :
Seventh Res. Div., Beijing Univ. of Aeronaut. & Astronaut., China
fDate :
2/1/1993 12:00:00 AM
Abstract :
A new approach for the design of variable structure control (VSC) of nonlinear systems is presented. It is based on a new method called the reaching law method, and is complemented by a sliding-mode equivalence technique. They facilitate the design of the system dynamics in all three modes of a VSC system including the sliding, reaching, and steady-state modes. Invariance and robustness properties are discussed. The approach is applied to a robot manipulator to demonstrate its effectiveness
Keywords :
manipulators; nonlinear systems; variable structure systems; VSC; nonlinear systems; reaching law method; reaching modes; robot manipulator; sliding modes; sliding-mode equivalence technique; steady-state modes; variable structure control; Aerodynamics; Control systems; Manipulators; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Robots; Robustness; Sliding mode control; Steady-state;
Journal_Title :
Industrial Electronics, IEEE Transactions on
