A New Controller Design for Manipulators Using the Theory of Variable Structure Systems

Kai S. Yeung, Yon-Ping Chen

Research output: Contribution to journalArticlepeer-review

152 Scopus citations

Abstract

A new controller design of manipulators using the theory of VSS is presented to deal with the set-point regulation problem. The major obstacle of VSS vector control with strong dynamic coupling is overcome for a class of systems with positive definite symmetric inertia matrices. Parameter variations can easily be considered in the design methodology, which is easily extendable to a higher number of links. The problem of chattering is solved by the introduction of sliding sectors.

Original languageEnglish
Pages (from-to)200-206
Number of pages7
JournalIEEE Transactions on Automatic Control
Volume33
Issue number2
DOIs
StatePublished - 1 Jan 1988

Fingerprint Dive into the research topics of 'A New Controller Design for Manipulators Using the Theory of Variable Structure Systems'. Together they form a unique fingerprint.

Cite this