Trajectory tracking for robot using variable structure control

Abstract

Based on the theory of variable structure system (VSS), a practical control system design for the trajectory control of robotics systems is presented. The variable structure control algorithm is determined from an approximate two-dimensional linear plant model, obtained by identification of the system used in the experimentation. In the application, the control of a three-link robot SCARA is considered. Experimental results are presented at the end to show that accurate trajectory following can be accomplished using the control of the arm in spite of the uncertainty in the system.