Microprocessor-Based Decoupled Control of Manipulator Using Modified Model-Following Method with Sliding Mode |
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| Authors: | Hiroi Masato Hojo Masayuki Hashimoto Yukio Abe Yoshikazu Dote Yasuhiko |
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| Affiliation: | Electronic Engineering Department, Muroran Institute of Technology, Muroran, 050 Japan.; |
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| 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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