Robust control of manipulator robot by using the variable structure control with sliding mode

摘要

The advantages of the variable structure control (VSC) by the sliding mode (SM) are very important, due to the good accuracy, stability, and speed robust in the presence of both parameter uncertainties and external disturbances. Based on Lyapunov theory, sufficient conditions for design of the robust sliding mode plane are derived. It is a suitable technique for nonlinear system with the imprecise models. An application of the variable structure control (VSC) with the sliding mode for manipulator robot (SCARA RP41) with an uncertain non linear dynamic model is described. The simulation results show a good stability of the system and the robustness of VSC opposite the parametric variations, the transported load and the external signals disruption.