Robust tracking control of mechatronic arms

Ahmet Denker, Kouhei Ohnishi

Research output: Contribution to journalArticlepeer-review

7 Citations (Scopus)


A robust tracking control scheme based on variable structure systems (VSS) theory is presented to cope with the uncertainties and parameter variations in mechatronic arm dynamics. A modification of VSS is used to remove its restrictions with regard to chattering and required control efforts. By blending VSS with a self-organizing controller (SOC), a sliding mode self-organizing controller (SLIMSOC) scheme has been developed. In this scheme, both control actions and performance evaluation are executed using the distance from the desired sliding surface and rate of approach to it. Comparisons are drawn and it is shown that the inherent robustness properties of variable structure systems are retained while the undesirable chatter motion of the sliding mode is eliminated. The results are illustrated by applications of SLIMSOC on a direct drive SCARA type of robot.

Original languageEnglish
Pages (from-to)181-188
Number of pages8
JournalIEEE/ASME Transactions on Mechatronics
Issue number2
Publication statusPublished - 1996
Externally publishedYes


  • Mechatronics
  • Robust control
  • Self-organizing
  • Tracking
  • Variable structure systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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