A variable structure controller for a class of hyper-redundant arms

The paper treats the control problem of a class of hyper-redundant robot constituted by a chain of continuum segments. The technological model basis is a central, long and thin, highly flexible and elastic backbone. The driving system is a decoupled one. The main parameters of the arm control are determined by the curvature and curvature gradient. The dynamic model is inferred. A sliding mode control system is used in order to achieve a desired shape of the arm. The stability of the closed loop control system is proven. Numerical simulations are also provided to verify the effectiveness of the presented approach.