In this paper, a new method to design a sliding mode of the variable structure controller for a certain class of nonlinear systems is presented and the application of this method to the control problem of a robot arm is discussed. First the design algorithm of the sliding mode, which zeros the output of the system is developed. Next, the control of a robot arm is discussed and the method presented in this paper is applied to this problem. The presented method is evaluated by the simulation for a two-link arm and is shown to be effective for the control problem of a robot arm.
|Number of pages||8|
|Publication status||Published - 1985 Dec 1|
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