Variable structure control applied to underactuated robots

Kangsik Lee, Sheri Coates, Victoria Coverstone-Carroll

Research output: Contribution to journalArticlepeer-review


Variable structure control is applied to an underactuated two and three-link robot. Control laws are developed to invert the robot from its stable, downward equilibrium position to an inverted position. This maneuver is accomplished by pumping energy into the system with the variable structure controller. A linear balancing controller is activated once the robot nears the inverted position. Numerical simulations are presented for both the two and three-link robot.

Original languageEnglish (US)
Pages (from-to)313-318
Number of pages6
Issue number3
StatePublished - 1997


  • Robots
  • Underactuated robots
  • Variable structure control

ASJC Scopus subject areas

  • Software
  • Mechanical Engineering
  • Control and Optimization
  • Artificial Intelligence
  • Rehabilitation
  • Control and Systems Engineering
  • Computer Vision and Pattern Recognition
  • Computer Science Applications
  • Computational Mechanics
  • General Mathematics
  • Modeling and Simulation


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