Affiliation:
1. Department of Electrical and Electronic Engineering, University of Hong Kong
Abstract
The paper describes the interaction between modelling, control and adaptation of a variable-structure model-following method applied to highly non-linear plants. The method is particularly appealing in the control of high-performance robot manipulators. The problems concerned with its application are discussed with reference to the use of a controller in a commercial manipulator as a case study.
Subject
Mechanical Engineering,Control and Systems Engineering