Authors:
Yasuhiko Mutoh
and
Nao Kogure
Affiliation:
Sophia University, Japan
Keyword(s):
SlidingMode Control, Time-varying Pole Placement Control, Trajectory Tracking Control, Nonlinear System, Linear Time Varying System.
Related
Ontology
Subjects/Areas/Topics:
Adaptive Signal Processing and Control
;
Engineering Applications
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Modeling, Analysis and Control of Discrete-event Systems
;
Modeling, Analysis and Control of Hybrid Dynamical Systems
;
Nonlinear Signals and Systems
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
Abstract:
The author et al. proposed the design method of the sliding mode controller for the trajectory tracking control
problem of nonlinear systems. This controller consists of the conventional sliding mode control and the pole
placement controller for the the linear time varying approximate model of the nonlinear system around the
desired trajectory. In this paper, this controller is applied to the trajectory tracking control of the actual 2-link
robot manipulator, and, experimental results are shown.