VARIABLE-STRUCTURE CONTROL STABILIZED BY HIGH-FREQUENCY OSCILLATIONS - THEORY - SIMULATION - EXPERIMENTS

This article addresses the problem of robust control for complex robot s. Dynamic effects are particularly important for these robots as they are capable of moving fast (parallel robots) or carrying heavy object s (multiarm robots). Dynamic effects are regarded as disturbances, and variable structure control (VSC) schemes that are intended to reject those disturbances are studied. First, we recall briefly the theory of basic VSC and discuss its main limitation when applied to real system s: the chattering phenomenon. Then, we propose a new technique applica ble to real robots that overcomes this problem. Initially, we derive s ome theoretical calculations regarding this new technique. We then pre sent some simulation results that prove our method is effectively a va riable structure method. Our experiments enable us to prove the robust ness of the proposed solution on a high-speed parallel robot.