Reducing the chattering using the generalized variable structure control applied to a manipulator arm

At the present time, the manipulator control is one of the major preoccupations in robotics research in view of its application increasingly in industry. The problems of control become increasingly difficult for classical methods of control as the production demands especially for light manipulators and realizing tasks of work in domains of great speed. To conquer these difficulties, a solution resides in the application of modern automatic techniques by recourse to robust control algorithms. This technique of robust control is a particular class of control systems, control by sliding mode, based on the theory of variable structure systems