A Novel Variable Structure Control for the Tracking of Robot

摘要

A novel reaching law called Rapid-Smooth Reaching Law (RSRL) is proposed by analysis and comparing with normal reaching law. At the same time, the normal sliding mode is improved, and a novel sliding mode called Rapid-Convergence Sliding Mode (RCSM) is proposed by introducing nonlinear item. The novel Variable Structure Control (VSC) is then used for the tracking of robot after selecting the switch mode of sliding mode. In the end, corresponding simulation has been done.