Implementation of VSS control to robotic manipulators-smoothing modification

The authors focus on the implementation of a variable structure systems (VSS) controller with smoothing laws in the design of effective tracking control for multi-input, multi-output robotic arms. The controller is realized by selecting powerful smoothing methods, such as balance conditions or their simplification, to reduce or remove undesirable chattering while keeping the robust characteristic that rejects system uncertainties. Giving careful consideration to actual system constraints, a design principle for selecting different smoothing methods is obtained and confirmed by experimental results