Abstract
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.
Original language | English |
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Pages (from-to) | 88-104 |
Number of pages | 17 |
Journal | IEEE Transactions on Systems, Man and Cybernetics |
Volume | 18 |
Issue number | 1 |
DOIs | |
State | Published - 1988 |
ASJC Scopus subject areas
- General Engineering