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Aiming at singular property for a class of link constrained manipulator, the design of soft sliding mode controller is considered by disturbance compensation in this paper. First, a singular system model of a three-link manipulator is established by the constraint equations and the force descriptions. Then, a dynamic switching function is given and a novel discrete singular exponential reaching law...
The dynamic soft variable structure control (VSC) of singular systems is discussed in this paper. The definition of soft VSC and the design of its controller modes are given. The stability of singular systems with the dynamic soft VSC is proposed. The dynamic soft variable structure controller is designed, and the concrete algorithm on the dynamic soft VSC is given. The dynamic soft VSC of singular...
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