VSC synthesis of industrial robots

  • Karel Jezernik
  • Boris Curk
  • Jože Harnik
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 193)


Slide Mode Control Joint Torque Load Torque Steady State Error Disturbance Observer 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. Bailey, E., Arapostathis, A. 1987, Simple sliding mode control scheme applied to robot manipulator. International Journal of Control 45, 1197–1209Google Scholar
  2. Craig, J.J. 1988, Adaptive Control of Mechanical Manipulators, Addison-Wesley, Reading, MarylandGoogle Scholar
  3. Hashimoto, H., Yamamoto, H., Yanagisawa, S., Harashima F. 1988, Brushless servo motor control using variable structure approach. IEEE Tr. Ind. App. 24, 160–170Google Scholar
  4. Isidori, A. 1989, Nonlinear Control Systems: An Introduction, Second Edition, Springer-VerlagGoogle Scholar
  5. Jezernik, K., Harnik J., Curk B. 1990, Variable structure control of AC servo motors used in industrial robots. Proc First IEEE International Workshop on variable structure systems and their applications, Sarajevo, 139–148Google Scholar
  6. Jezernik, K., Curk, B., Harnik, J. 1991, Variable structure field oriented control of an induction motor drive. 4th European conference on power electronics and applications, Firenze, 2.161–2.166Google Scholar
  7. Singh, S.K. 1990, Decentralized variable structure control for tracking in non-linear systems. International Journal of Control 52, 811–831Google Scholar
  8. Slotine, J.J., Sastry, S.S. 1983, Tracking control of non-linear systems using sliding surfaces, with application to robot manipulators. International Journal of Control 38, 465–492Google Scholar
  9. Tarn, T.J., Begezy, A.K., Isideru, A., Chun, Y.L. 1984, Nonlinear feedback in robot arm control. Proc IEEE Conference on Decision and Control,, 736–751Google Scholar
  10. Utkin, V.I. 1978, Sliding mode and their applications in variable structure systems, MIR Publishers, MoscowGoogle Scholar
  11. Wijesoma, S.W. 1990, Robust trajectory following of robots using computed torque structure with VSS. International Journal of Control 52, 935–962Google Scholar
  12. Xu, J.X., Hashimoto, H., Slotine, J.J., Arai, Y., Harashima, F. 1989, Implementation of VSS control to robotic manipulators — smoothing modification. IEEE Trans. Ind. Electron. 36, 321–329Google Scholar
  13. Young, K.D. 1978, Controller design for a manipulator using theory of variable structure systems. IEEE Trans. Sys., Man. and Cyber. SMC-8, 101–109Google Scholar
  14. Šabanović, A., Bilalović, F. 1986, Sliding mode control of AC drives. IEEE/AS Ann. Meet., DenverGoogle Scholar

Copyright information

© Springer-Verlag London Limited 1994

Authors and Affiliations

  • Karel Jezernik
  • Boris Curk
  • Jože Harnik

There are no affiliations available

Personalised recommendations