Robust robot control driven by a variable structure state observer

The aim of this contribution is to present a control algorithm for the robust and accurate reference trajectory tracking in MIMO motion control system, based on the variable structure control theory. The only information on the motion process is the joint position vector, thus the variable structure state observer has also been taken into consideration. Numeric simulation of the dynamic model of 2 DOF robot arm demonstrates the reliability and the accuracy of the proposed control structure.