A new variable structure controller for robot manipulators

A novel variable-structure control algorithm for robot manipulators is reported. Second-order linear system sliding curves and a new control law eliminate the reaching phase problems as well as the chattering usually present in the sliding mode. The results show a remarkable improvement over conventional variable-structure controllers, maintaining, however, a low computational complexity which makes the present controller well suited for microcomputer implementation. Furthermore, the well-known standard heuristic procedures of controller adjustment can be used in the proposed scheme. This is of utmost importance when considering its implementation in an industrial environment