A General Sliding Mode Controller for Robot Manipulators

Abstract

A general sliding mode controller is presented for trajectory tracking of nonlinear robot manipulator systems which guarantees occurrence of sliding mode on a specified general sliding surface. The controller is, in a simple manner, related to the manipulator and load parameters, which greatly reduces the complexity of design. In the sliding mode, desired performance can be obtained by selecting a suitable sliding surface. The algorithm can also be applied to Cartesian space.