A model-reaching control design for trajectory tracking

Abstract

Based on the variable structure model reaching control technique, a dynamic sliding mode strategy is developed for the trajectory tracking problem of a robot manipulator in the presence of parametric uncertainties and external disturbances. By suitable choice of design parameters, the control torque is given in a simple form which is easy to implement. The proposed algorithm was implemented to control two revolute joints of a robot. Results demonstrate accurate tracking capability and robust performance.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>