Jj. Kim et al., DESIGN OF NEW TIME-VARYING SLIDING SURFACE FOR ROBOT MANIPULATOR USING VARIABLE STRUCTURE CONTROLLER, Electronics Letters, 29(2), 1993, pp. 195-196
A variable structure controller with time-varying sliding surface is p
roposed for robot manipulators. The proposed time-varing sliding surfa
ce ensures the existence of a sliding mode from an initial state, wher
eas the conventional sliding surface cannot achieve robust performance
against parameter variations and disturbances before the sliding mode
occurs. Therefore, error transients can be prescribed in advance for
all time. Furthermore, it is shown that the overall system is globally
exponentially stable. The efficiency of the proposed method for the t
rajectory tracking is demonstrated by an example.