A decentralized variable structure control algorithm for robotic manipulators

@article{Morgan1985ADV,
  title={A decentralized variable structure control algorithm for robotic manipulators},
  author={Russel G. Morgan and {\"U}mit {\"O}zg{\"u}ner},
  journal={IEEE J. Robotics and Automation},
  year={1985},
  volume={1},
  pages={57-65}
}
A decentralized variable structure control algorithm is developed for robotic manipulators to cause sliding modes to exist. New approaches are used to reach the sliding mode and to reduce non-ideal characteristics while in the sliding mode. Both position control and trajectory following are examined through two-link and three-link digital simulations. 

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