Robust control of the robot manipulator via an improved sliding mode scheme

被引：11
作者：
Liang, Yew-Wen [1 ]
Xu, Sheng-Dong [1 ]
Chu, Tzu-Chiang [1 ]
机构：
[1] Natl Chiao Tung Univ, Dept Elect & Control Engn, Hsinchu 30010, Taiwan
来源：
2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS | 2007年
关键词：
asymptotic stability; nonlinear systems; robot manipulator control; sliding mode control; tracking;
D O I：
10.1109/ICMA.2007.4303787
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, an improved Sliding Mode Control (SMC) scheme, reformed from the conventional SMC approaches, is developed for position tracking of a robot manipulator with parameter uncertainties and external disturbances. The improved SMC scheme, which uses saturation-type SMC laws, is shown to be able to surpass the level of uniformly ultimate boundedness to achieve asymptotic stability. In addition, the presented first-order SMC laws are continuous; as a result, this scheme can also alleviate the undesirable chattering behavior that is characteristic of sign-type SMC laws. Simulation results demonstrate the benefits of the proposed scheme.
引用
收藏
页码：1593 / 1598
页数：6
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