Mathematical model of adaptive variablestructure of control system for DC servo robot was established with nonlinear sliding mode formed with saturation type scalar functions.
采用饱和型标量函数构成非线性滑模建立直流伺服机器人控制系统的自适应变结构数学模型。
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We can obtain new model reference variablestructure control system of second order linear reference model system with common form according to the math model of usual non-linear system.
So, variablestructure control theory is used in Angle stabilization of roll, and model - following variablestructure control theory is used in acceleration stabilization of pitch and yaw.