Consideration of variable structure controller for robust control and its application to robot manipulator

강인한 제어를 위한 가볍 구조 제어기의 고찰 및 로봇 매니퓰레이터의 적용

This paper presents a continuous time varying sliding surface that allows faster tracking and really guarantees robust contro land smooths control inputs. And this method is evaluated by applying to robot manipulator.