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정철호,임규만 초당대학교 초고속정보화센터 2000 초고속정보화센터논문집 Vol.1 No.-
Control of a class of nonlinear/uncertain systems is discussed via a variable structure systems (VSS) approach. Observation of the states of such systems is also considered. The natural extension to an observer and controller design is illustrated using a computer simulation example of a θ and r manipulator. Next, the problem of path planning is addressed via a observer and controller strategy. Finally, the aspects of hardware implementation of the proposed observer and controller are analyzed.