Abstract
The oaoer use the theory of Variable Structure System (VSS) to design a Model Reference Adaptive Control (MRAC) system for a industrial robot. In error state space, the entire eigenstructure assignment method is used to synthesize the hypersurfaces. The control vectors are so decided that the sliding mode is ensured to occur on the hypersurfaces and the sliding motion is both stable and robust to the change of system parameters. A simple equation is used to approximate the equivalent control so the on-line computer control is easier to realize. Digital simulation is done to compare with MRAC, the results show that Variable Structure Model Reference Adaptive Control (VSMRAC) is more adequate to calculate and statisfactory in control performance.
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