Motion control - A SMC approach

Şabanoviç, Asif (2010) Motion control - A SMC approach. In: International Symposium on Application of Biomechanical Control Systems to Precision Engineering, Engineering Review of Biological Evolution of Motion Control, Fukushima, Japan

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Motion control involves many diversified control problems of complex nonlinear systems. In this paper we will be addressing the SMC approach for multi-body mechanical systems control. The main feature of the SMC is constraint of the system motion into manifold in system state space. It will be shown that usage of the SMC methods is a natural way of addressing problems in motion control including constrained systems, redundant systems and functionally related systems to name some. The consistent application of the SMC methods leads to natural decomposition of system motion for redundant tasks and allows simple, straight forward dynamical decoupling of the multiple tasks.

Item Type:Papers in Conference Proceedings
Subjects:T Technology > TJ Mechanical engineering and machinery > TJ163.12 Mechatronics
ID Code:14937
Deposited By:Asif Şabanoviç
Deposited On:28 Oct 2010 10:27
Last Modified:29 Jul 2019 09:45

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