Decoupled variable structure control design for trajectory tracking on mechatronic arms - YU, Wen-Shyong; CHEN, Yuh-Hsin (IEEE transactions on control systems technology, 2005)
Keywords: Algorithms; Applied sciences; Arm; Computer science; control theory; systems; Control design; Control system analysis; Control system synthesis; Control systems; Control theory. Systems; Error correction; Exact sciences and technology; Hitting motion; Mechatronics; Nonlinear control systems; Robust control; rotational inverted pendulum system; Sliding mode control; Studies; tracking; Trajectory; traveling time; Uncertainty; variable structure control (VSC); Inversed pendulum; Mechatronics; Tracking; Variable structure control; Phase plane method; Rotation; Hitting motion; Chatter; traveling time; Decoupled control; Robustness; variable structure control (VSC); Arm; Motion control; Phase equilibrium; Boundary layer; rotational inverted pendulum system