Abstract
In this paper, a variable structure control method for a two-link robot arm with/without look-up tables is proposed. The stability of the control system is proven. Robustness against parametric variation and external disturbance is achieved. Suitable controller gains are picked up from the angle-related tables to fulfill the control law. The proposed method retains the benefit of variable structure control and further curtails computation time. An additional advantage is that it is not necessary to measure or observe joint angular velocities.
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