Robust sliding mode control for 2-Dof robot manipulator position control system

摘要

Sliding mode control (SMC) is a nonlinear control method with the remarkable properties of accuracy, reliability, and simplicity of change and implementation. Sliding mode control is particularly useful for nonlinear frameworks with uncertain components. It could also be employed for tires that have external wear and need to be excused. is widely used in aerospace, automotive and robotics applications. SMCs have used to control a robot's manipulator and are an arm-like development of the modern robot. This part is also called the robot arm. The manipulator is mounted on the robot body and includes various links and joints. This study will implement a customized trial of a versatile SMC controller to control the limits of a robot arm with two degrees of freedom (2DoF) to obtain a useful implementation and high accuracy, as well as reduce errors and known chatter problems, and evaluate it through ingoing testing in the field. The design and test results showed excellent response and very good convergence to the input stimulation signal while reducing and suppressing chatter and delay phenomena, with an error rate of 1.35% and an efficiency exceeding 98%.