A Chattering-Free Variable Structure Controller for Tracking of Robotic Manipulators

摘要

This paper describes the design of a novel sliding mode controller for tracking of robotic manipulators. By using a proportional-integral combination of the sliding function in the boundary layer, control chattering is eliminated without deterioration of system robustness. Theoretical developments are verified by simulation results for the tracking problem of a 2 DOF robotic manipulator.