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variablestructure control

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Variable structure control applied to underactuated robots
Kangsik Lee, Sheri Coates, Victoria Coverstone-Carroll
Journal:

Robotica / Volume 15 / Issue 3 / May 1997

Published online by Cambridge University Press:

01 May 1997, pp. 313-318
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Variable structure control is applied to an underactuated two andthree-link robot. Control laws are developed to invert the robot from itsstable, downward equilibrium position to an inverted position. This maneuver isaccomplished by pumping energy into the system with the variable structurecontroller. A linear balancing controller is activated once the robot nears theinverted position. Numerical simulations are presented for both the two andthree-link robot.