Globally stable robust tracking of nonlinear systems using variable structure control and with an application to a robotic manipulator

DOI10.1109/9.61012zbMath0744.93019OpenAlexW2124831923MaRDI QIDQ3970381

Li-Chen Fu, Teh-Lu Liao

Publication date: 25 June 1992

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL: http://ntur.lib.ntu.edu.tw/bitstream/246246/236367/-1/14.pdf

zbMATH Keywords

decoupling matrixrobust tracking controllerclosed- loop systemtrajectory control of MIMO nonliinear plants

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Variable structure systems (93B12)

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