Sliding Mode Control of Manipulator Based on Improved Reaching Law and Sliding Surface

Aiming at the problem of convergence speed and chattering in sliding mode variable structure control manipulator, an improved exponential reaching law nonlinear surface are proposed, Lyapunov function is used to analyze its stability. According dynamic model 6-DOF UR5 manipulator proposed surface, corresponding scheme designed. The performance verified by tracking end trajectory on MATLAB CoppeliaSim robot simulation platform. experimental results show that can not only significantly improve make system converge quickly, but also effectively reduce system. Even presence disturbance signals, fast stable be achieved while ensuring robustness system, robotic arm weakened a certain extent. Compared with classical method based computational torque traditional law, has advantages terms accuracy, speed, reducing chattering, improves overall