A proportional-derivative-sliding mode hybrid control scheme for a robot manipulator

摘要

A hybrid proportional-derivative-sliding mode control scheme is proposed for robot manipulators. This hybrid controller is composed of a proportional-derivative controller and a semi-continuous sliding mode controller. The hybrid controller has a robust performance in the reaching phase, which does not possess the invariance property of the sliding mode, and it has chattering-free characteristics in the sliding mode. Thus, the proportional-derivative-sliding mode hybrid controller has a robust performance in the whole control region. The controller was applied to a two-link SCARA (selective compliant articulated robot for assembly) robot manipulator. It was shown that the proposed control has a good transient response and trajectory tracking performance in the presence of model uncertainties.