Variable structure controllers for robots

Abstract

This chapter shows how a broad class of uncertain mechanical systems (including robots) can be forced to behave like a chosen and therefore perfectly known reference model. This model can be used to calculate off-line some particular trajectories or to design some model based control schemes. The presented results are well suited for applications where the robot has to repeatedly perform certain tasks, e.g. in assembly operations with very high precision requirements. A nonlinear reference model and a simple regulator with variable structure control is used. The advantages of using a nonlinear reference model are twofold.