Abstract
A methodology of discontinuous feedback and continuous feedforward control is developed to achieve accurate decoupled tracking in a class of nonlinear time varying systems in the presence of disturbances, parameter variations and nonlinear dynamic interactions. The method is based on an improved variable structure control with a sliding mode. The convergence of the error state to the origin is proved by using the "direct method of Liapunov".Then the developed method is practically applied to decoupled tracking control for a two-degrees-of-freedom manipulator. The joint position trajectories are observed to be smooth and to track the desired trajectories accurately.
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