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A tutorial account of variable structure control with sliding mode is presented in this paper. The purpose is to introduce in a concise manner the fundamental theory, main results, and practical applications of this powerful control system design approach. This approach is particularly attractive for the control of nonlinear systems. Prominent(More)
Abotrut. A hierarchical control strategy is developed in thispaper for robotic systems (multiple robots systems) holding a rig. id body to track a given motion in the presence o f enviromrntal con. draintl. New mathematical formulation to the enviromental con. dralnts is introduced which is simple enough in many caws. The control b constructed following a(More)
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