A new sliding mode approach to the robust control of robotic manipulators with dynamic uncertainties

摘要

A new sliding mode control law based on a linear predictor using a double integrator model for the control of robotic manipulators is presented. The new control law retains the simplicity and robustness of sliding mode controllers while the chattering problem commonly associated with this type of controller is completely eliminated. The control law is directly expressed in a discretized format for digital implementation. Simulations show that the new controller is chatterless, robust with respect to large parameter uncertainties and external disturbances, and simple for digital implementation.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>