Control of a class of nonlinear uncertain systems is discussed using a variable-structure-systems (VSS) approach. Observation of the states of such systems is considered. The natural extension to an observer-controller design is illustrated using an example of a theta - r manipulator. Aspects of the hardware implementation of the observer-controller are analyzed.
|Number of pages||6|
|Journal||Proceedings of the American Control Conference|
|State||Published - 1987|
ASJC Scopus subject areas
- Electrical and Electronic Engineering