As an initial step in a programme to test VSS controllers on robot arms, the VSS control strategy is applied to a single link and revolute joint. Experimental results demonstrate the successful use of this type of control and indicate the advantages to be gained by some of its suggested modifications.
Asada, H. and Slotine, J.J.1986. Robot Analysis and Control, John Wiley and Sons.
2.
Coiffet, P.1983. Robot Technology Vol. 1: Modelling and Control. Hermes Publishing, Paris, France.
3.
Harashima, F., Hashimoto, H. and Kondo, S.1985a. 'MOSFET converter-fed position servo system with sliding mode control', Trans IEEE Indust Electron, IE-32 (3).
4.
Harashima, F., Maruyama, K. and Hashimoto, H.1987. 'A microprocessor-based robot manipulator control with sliding mode'. Trans IEEE Indust ElectronIE-34 (1).
5.
Harashima, F.Xu, J.X., Hashimoto, H. and Ichiyama, T.1985b. 'Tracking control of a robot manipulator using sliding mode control', Proc l5th ISIR.
6.
Lin, J.L. and Lin, W.T.1987. 'Application of variable structure system in DC-motor velocity control', J Chinese Inst of Eng, 10 (2).
7.
Luh, J.Y.S., Walker, M.W. and Paul, R.P.1980. 'On-line computational scheme for mechanical manipulators' , Trans ASME J Dyn Sys Meas and Contr, 102.
8.
Paul, R.P.1981. Robot Manipulators: Mathematics, Programming and Control , M.I.T. Press, USA.
9.
Reay, D.S.1988. Variable structure control of industrial robots, PhD Thesis , University of Cambridge.
10.
Richards, R.J., Reay, D.S. and Habibi, S.B.1990. The Influence of Computational Developments on Control Implementation - a Case Study in Robotics J Advanced Manufacturing Eng. (in print)
11.
Slotine, J.J. and Sastry, S.S.1982. 'Tracking control of non-linear systems using sliding surfaces, with applications to robot manipulators'. Int J Cont, 38 (2).
12.
Staszulonek, A. and Van Brussel, H.1966 `Inertial decoupled, sliding mode controller design for trace and pick-up robot', Proc 16th ISIR.
13.
Utkin, V.I.1977. 'Variable structure systems with sliding modes', Trans IEEE Automatic Cont, AC-22 (2).
14.
Utkin, V.I.1983. 'Variable structure systems: present and future', Automn Remote Cont, (translated from Avtomatika i Telemekhanika, 9.
15.
Walker, M.W. and Orin, D.E.1982. 'Efficient dynamic computer simulation of robotic mechanisms' , Trans ASME, J Dyn Sys, Meas and Cont.
16.
Wijesoma, S.W.1990. Robot control using joint and end-effector sensing, PhD Thesis, Cambridge University.
17.
Wijesoma, S.W. and Richards, R.J.1990. `Robust trajectory following of robots using computed torque structure with VSS', Int J Cont.
18.
Yeung, K.S. and Chen, Y.P.1988. 'A new controller design for manipulators using the theory of variable structure systems', Trans IEEE Automat Cont, AC-33 (2).
19.
Young, K.D.1978. `Controller design for a manipulator using theory of variable structure systems', IEEE Trans Sys Man and Cybernet, SMC-8 (2).
