Variable structure control of robot manipulators with nonlinear sliding manifolds

DOI10.1080/00207179308923003zbMath0781.93017OpenAlexW2142272699MaRDI QIDQ3136215

Yury Stepanenko, Chun-Yi Su

Publication date: 7 February 1994

Published in: International Journal of Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/00207179308923003

zbMATH Keywords

variable-structure controllersrobotic manipulator controlselected sliding manifold

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Variable structure systems (93B12)

Related Items (3)

Adaptive control in robotic systems with \(H^\infty\) tracking performance ⋮ A remark on passivity-based and discontinuous control of uncertain nonlinear systems ⋮ Fuzzy adaptive control for a class of nonlinear systems

Cites Work

• A new and simple algorithm for sliding mode trajectory control of the robot arm
• Adaptive motion control design of robot manipulators: an input-output approach
• Robust trajectory following of robots using computed torque structure with VSS
• Tracking control of non-linear systems using sliding surfaces, with application to robot manipulators†
• A calculus for computing Filippov's differential inclusion with application to the variable structure control of robot manipulators
• A new controller design for manipulators using the theory of variable structure systems
• Globally stable robust tracking of nonlinear systems using variable structure control and with an application to a robotic manipulator
• Controller Design for a Manipulator Using Theory of Variable Structure Systems
• Simple sliding mode control scheme applied to robot manipulators

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