Variable Structure Control in Excavator Robot

This work evaluates the use of Variable Structure Control or Sliding Mode techniques to control excavator robot. The VSC techniques have been studied with success to control robots, this depends on characteristics of stability and robustness of VS controller has usually a large cost and consuming time for calculus, while a decentralized control of every joint is more flexible, less expensive and allows a more stable control of actuators.

We consider a decentralized variable structure control of joints, including the actuator dynamics, and we consider also the possibility to adapt the control dynamics on the system disturbs.