An improved variable structure model‐following control for robotic manipulators

Abstract

An improved variable structure model‐following control scheme for rigid robotic manipulators is proposed in this paper. It is shown that the controller parameters are determined by only a few uncertain system matrix bounds. The proposed scheme results in greatly simplified controller design; furthermore, strong robustness and asymptotic convergence can be guaranteed. It is shown that this scheme can be easily used for practical applications. Copyright © 1993 John Wiley & Sons, Ltd.