Synthesis of a robust control algorithm for a robot positioning

This contribution presents an original reaching law approach to the continuous approximation of the discontinuous (relay) element in robust variable structure motion control systems (VSC). The suggested approximation is implemented to get a continuous method of the actuating variable generation, to prevent the chattering (i.e. the parasitic low frequency oscillation) and to preserve the desired control performance in real motion systems like robotic manipulators, mobile robots and other MIMO or SISO mechatronic systems. Numeric simulation shows the feasibility of the proposed control algorithm.