A new controller design for manipulators using the theory of variable structure systems

A controller design for manipulators using the theory of variable-structure systems (VSS) is presented to deal with the set-point regulation problem. The major obstacle of VSS vector control with strong dynamic coupling is overcome for a class of systems with positive symmetric inertia matrices. Parameter variations can easily be considered in the design methodology, which is readily extendable to a higher number of links. The problem of chattering is solved by the introduction of sliding sectors.<
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