Abstract: Sliding control offers a straightforward approach to robust control of nonlinear as well as linear systems. This control technique has been applied to a wide variety of hardware including robotic manipulators, electric motor drives, and automotive transmissions. This paper describes how the sliding control theory developed by Jean-Jacques Slotine can be applied to trajectory control of a single-axis steering mirror. An introduction to sliding control is presented along with an overview of the steps involved in creating the controller. Hardware is described and implementation issues are addressed. !2
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