Variable structrure system control method for the trajectory control of robot arm

로보트 팔의 궤도제어를 위한 가변구조제어방식

In this paper, a variable structure system control method is proposed to the trajectory control of robot arm. A proposed method uses nonlinear switching function and saturation function. Furthermore, learning control method uses to decrease of the following error. The computer simulation results show that the chattering and the following error decrease and is improved the control the performance by a proposed method.