A calculus for computing Filippov´s differential inclusion with application to the variable structure control of robot manipulators

This paper develops a calculus for computing Filippov´s differential inclusion which simplifies the analysis of dynamical systems described by differential equations with a discontinuous right-hand side. In particular, when a slightly generalized Lyapunov theory is used, the rigorous stability analysis of variable structure systems is routine. As an example, a variable structure control law for rigid-link robot manipulators is described and its stability is proved.