Chattering Reduction via Prescribed Performance Controller-Based Sliding Mode for Robotic Systems*

摘要

This work proposes a robust sliding mode controller for robotic systems, incorporating prescribed performance theory to address the chattering problem and enhance tracking accuracy during both reaching and sliding phases. Firstly, the tracking error will be transformed and a modified sliding surface that will be forced to evolve inside prescribed constraints will be proposed. Secondly, the designed surface will be also transformed to impose other constraints to keep the trajectories in a small region around the manifold. Finally, an adaptive fixed-time reaching law is proposed for fast response during the reaching phase. The controller will be designed while considering the problem of uncertainties. The suggested method is evaluated through simulation on a 2-link robotic arm and contrasted with the traditional sliding mode to highlight the enhancements.