Implementation of Sliding Mode Control in SIMULINK 4.1 (R12.1)

0410685 - UTIA-B 20010154 CZ eng K - Conference Paper (Czech conference)
Belda, Květoslav
Implementation of Sliding Mode Control in SIMULINK 4.1 (R12.1).
Praha: VŠCHT, 2001. ISBN 80-7080-446-7. In: Sborník příspěvků 9.ročníku konference MATLAB 2001. - (Procházka, A.; Uhlíř, J.), s. 9-13
[MATLAB 2001 /9./. Praha (CZ), 11.10.2001]
R&D Projects: GA ČR GA101/99/0729
Grant - others:IG ČVUT(CZ) 300104412
Institutional research plan: AV0Z1075907
Subject RIV: BC - Control Systems Theory
http://library.utia.cas.cz/separaty/historie/belda-0410685.pdf

The paper briefly introduces Sliding Mode Control (SMC) of the planar redundant parallel robot. This type of the robots seems to be one of the promising ways to solve the problems of accuracy and speed. The main goal is presentation of using MATLAB-SIMULINK environment verion 4.1 (R12.1) for simulation of such control of the robot. Implementation is accomplished by combination of S-Function and ordinary Function, both programmed in C code as mex Functions.
Permanent Link: http://hdl.handle.net/11104/0130773