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

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2 Author(s)
Yeung, K.S. ; Dept. of Electr. Eng., Texas Univ., Arlington, TX, USA ; Chen, Y.P.

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

Published in:

Automatic Control, IEEE Transactions on  (Volume:33 ,  Issue: 2 )

Date of Publication:

Feb 1988

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