This work was supported by the Consejo de Desarrollo Cientifico, Humanistico y Tecnologico (CDCHT) of the Universidad de Los Andes (Merida-VENEZUELA) under Research Grant I-325- 90, by the Consejo Nacional de Investigaciones Cientificas y Tecnologicas (CONICIT) of VENEZUELA and by the School of Electrical Engineering of Purdue University.


In this paper we propose a practical discontinuous feedback control scheme for the regulation of joint positions of robotic manipulators. A robust on-off switching control strategy based on a pulse-width-modulation (PWM) feedback scheme is proposed for the joint torques. The discontinuous PWM controller design is carried out on the basis of a suitable controller designed for an average model which is of continuous nature. Simulations of the closed loop performance of the proposed control scheme are presented for a two-link robotic manipulator


Pulse-Width-Modulation, Robotic Manipulators, Nonlinear Systems, Variable Structure Systems.

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