系统工程与电子技术（英文版）
繫統工程與電子技術（英文版）
계통공정여전자기술（영문판）
JOURNAL OF SYSTEMS ENGINEERING AND ELECTRONICS
2004年
4期
586-591
,共6页
reaching law%sliding mode%variable structure control%input/output linearizing%robot
A novel variable structure control (VSC) with new rapid-smooth reaching law (RSRL) and new rapid-convergent sliding mode (FCSM) is proposed, which is based on analysis of normal VSC system. When it is used for an MIMO nonlinear system, we combine the method of Input/Output linearizing (I/O L) with VSC. After analyzing the robustness of the MIMO nonlinear system, we use this novel controller for Precision One Robot position control system. Simulation provides a quite satisfactory performance with uncertainties and external disturbances.
