A novel generalized sliding mode controller for uncertain robot manipulators based on motion constraints

摘要

Abstract. To improve the trajectory tracking performance and robustness for uncertain robot manipulators, a generalized sliding mode controller (GSMC) including an ideal controller and a continuous sliding mode controller (SMC) is proposed from the standpoint of motion constraints. First, the trajectory tracking requirements are formulated as the motion constraints, based on which an ideal controller is proposed to satisfy the motion constraints for robot manipulators whose dynamics are precisely known. Second, an additional continuous SMC is presented to compensate for the effects of uncertainty, and the chattering phenomenon that commonly exists in the SMC can be avoided by the introduction of a smoothing function. Third, Lyapunov analysis is conducted to verify that the proposed GSMC enables the tracking error restricted to a small region around zero. Finally, the numerical simulation and experiment are performed to verify the effectiveness and superiority of the proposed GSMC.