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

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.