IEEE Transactions on Industrial Electronics · 1993 · 1.3K citations · 20 references
EngineeringMechanical EngineeringRobotics EngineeringRobot ControlRoboticsSystem DynamicsControl Of Dynamical SystemsControl System DesignControl SystemsControl TheoryManipulator ControlManipulator DynamicsNonlinear Control Of ManipulatorsNonlinear Control SystemsNonlinear Robot ControlNonlinear SystemsRobot Manipulator DesignRobot Manipulator Equations Of MotionRobustnessSliding Mode Control
A new approach for the design of variable structure control (VSC) of nonlinear systems is presented. It is based on a new method called the reaching law method, and is complemented by a sliding-mode equivalence technique. They facilitate the design of the system dynamics in all three modes of a VSC system including the sliding, reaching, and steady-state modes. Invariance and robustness properties are discussed. The approach is applied to a robot manipulator to demonstrate its effectiveness.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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Variable structure control: a survey
John Y. Hung, W.B. Gao, J. C. Hung · IEEE Transactions on Industrial Electronics · 1993 · 2.9K citations
The invariance conditions in variable structure systems
Branislava Draženović · Automatica · 1969 · 928 citations