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A SLIDING MODE CONTROL APPROACH TO ROBOTIC TRACKING PROBLEM
Chieh-Li Chen* and Chih-Jer Lin**
* Institute of Aeronautics and Astronautics, National Cheng Kung, University,
Tainan
** Department of Mechanical Engineering, Da-yeh University, Da-Tsuen, Changhua, Taiwan
In the conventional sliding mode control, a discontinuous switching control signal is applied. It makes the system invariant to parametric uncertainty and external disturbance, but also causes actuator chattering. This paper considers a tracking control of robot manipulators using a dynamic sliding mode control, where a global invariance is achieved and the resulting control signal is chattering free. The resulting performances are illustrated by its application to the tracking problem of robot manipulators.
Keywords: Sliding mode control, chattering, robot manipulator, invariance, trajectory tracking problem
Session slot T-Th-A14: Control Design for Mechanical Systems/Area code 2a : Control Design
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