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

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5 Author(s)
Hiroi, Masato ; Electronic Engineering Department, Muroran Institute of Technology, Muroran, 050 Japan. ; Hojo, Masayuki ; Hashimoto, Yukio ; Abe, Yoshikazu
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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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Industrial Electronics, IEEE Transactions on  (Volume:IE-33 ,  Issue: 2 )