Simple sliding mode control scheme applied to robot manipulators

摘要

We present a simple sliding mode control scheme for robot manipulators that does not rely upon the construction of individually stable discontinuity surfaces, thus greatly reducing the complexity of design. We utilize the structure of the manipulator dynamics and Lyapunov's second method in order to establish a sliding surface on the intersection of the switching surfaces in a direct manner. A simple numerical example accompanies the theoretical development.