Variable structure control applied to underactuated robots

Kangsik Lee, Sheri Coates, Victoria Coverstone

Research output: Contribution to journalArticle

29 Citations (Scopus)

Abstract

Variable structure control is applied to an underactuated two and three-link robot. Control laws are developed to invert the robot from its stable, downward equilibrium position to an inverted position. This maneuver is accomplished by pumping energy into the system with the variable structure controller. A linear balancing controller is activated once the robot nears the inverted position. Numerical simulations are presented for both the two and three-link robot.

Original languageEnglish (US)
Pages (from-to)313-318
Number of pages6
JournalRobotica
Volume15
Issue number3
DOIs
StatePublished - Jan 1 1997
Externally publishedYes

Fingerprint

Variable Structure Control
Variable structure control
Robot
Robots
Controller
Controllers
Variable Structure
Invert
Balancing
Numerical Simulation
Computer simulation
Energy

Keywords

  • Robots
  • Underactuated robots
  • Variable structure control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications

Cite this

Variable structure control applied to underactuated robots. / Lee, Kangsik; Coates, Sheri; Coverstone, Victoria.

In: Robotica, Vol. 15, No. 3, 01.01.1997, p. 313-318.

Research output: Contribution to journalArticle

Lee, Kangsik ; Coates, Sheri ; Coverstone, Victoria. / Variable structure control applied to underactuated robots. In: Robotica. 1997 ; Vol. 15, No. 3. pp. 313-318.
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