Higher Order Sliding Mode Control of Uncertain Robot Manipulators
نویسندگان
چکیده
This paper proposes a higher order sliding mode controller for uncertain robot manipulators. The motivation for using high order sliding mode mainly relies on its appreciable features, such as high precision and elimination of chattering in addition that assure the same performance of conventional sliding mode like robustness. Instead of a regular control input, the derivative of the control input is used in the proposed control law. The discontinuity in the controller is made to act on the time derivative of the control input. The actual control signal obtained by integrating the derivative control signal is smooth and chattering free. The stability and the robustness of the proposed controller can be easily verified by using the classical Lyapunov criterion. The proposed controller is tested to a three-degree-offreedom robot to prove its effectiveness. Keywords—High order sliding mode; robot control; Lyapunov method
منابع مشابه
Eliminating chattering phenomenon in sliding mode control of robot manipulators in the joint space using fuzzy logic
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