1986•IEEE Transactions on Industrial ElectronicsRequires access

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

Masato Hiroi, M. Hojo, Yukio Hashimoto, Yoshikazu ABE, Y. Dote

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.

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Key concepts: Control theory (sociology), Sliding mode control, Variable structure control, Feed forward, Nonlinear system, Microprocessor, Mode (computer interface), Computer science