Sliding mode control methods have been used widely because they provide robustness against parameter variations and disturbances. This paper focuses on the problem of a robust output-sliding control design for a class of nonlinear time-varying systems. Output signals are used for the switching function definition. The control law formulation is emphasized. Input and output linearization is used. Output tracking can be achieved against a class of time-varying parameter variations and external disturbances. An application to a two-degree-of-freedom manipulator indicates that the proposed switching control law drives the system state trajectories onto the chosen sliding mode in finite time and the output tracking is guaranteed.
Robust control for nonlinear time-varying systems with application to a robotic manipulator
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