Adaptive Sliding-mode Robust Tracking Control for Robot Manipulator with the Uncertainties

摘要

Aadaptive sliding mode control (SMC) method based on equivalent control in the SMC and regressor formulation of robot dynamics is presented for the trajectory tracking control of robot manipulators with parameter uncertainties and non-parameter uncertainties. The smoothing control law is adopted to eliminate the chattering in the conventional VSC. The asymptotical stability of overall systems is proved by using Lyapunov theory. To illustrate the feasibility of the presented controller it is implemented on a GR-2 two-link robot manipulator using the proposed method. The simulation and experimental results confirm that the presented controller can guarantee the stability and dynamic qaulity of sliding node, and eliminate the effect of uncertaities in the systems on the performances. Also the robustness and good tracking precision can be obtained.