Control of a class of nonlinear/uncertain systems is discussed via a variable structure systems (VSS) approach. Observation of the states of such systems is also considered. The natural extensions to an observer-controller design is illustrated using a computer simulation example of a θ-r manipulator. Next, the problem of path planning is addressed via a combined observer-controller strategy. Finally, the aspects of hardware implementation of the proposed observer-controller are analyzed.
|Number of pages||17|
|Journal||IEEE Transactions on Systems, Man and Cybernetics|
|State||Published - 1988|
ASJC Scopus subject areas
- Engineering (all)