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A variable structure model following control design for robotics applications

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1 Author(s)
K. -K. D. Young ; Lawrence Livermore Nat. Lab., California Univ., Livermore, CA, USA

A variable structure model following control (VSMFC) design method is proposed for robotics applications. The method allows the designer to model the nonlinear dynamic interactions among the different mechanical components of the robot system even when an adaptive control solution is called for to satisfy stringent performance requirements. A VSMFC design for a planar two-link robot arm is considered as an example

Published in:

IEEE Journal on Robotics and Automation  (Volume:4 ,  Issue: 5 )