Design of a global sliding mode controller for robot manipulators with robust tracking capability

Yu-Shen Lu, Jian Shiang Chen

研究成果: 雜誌貢獻文章

8 引文 斯高帕斯(Scopus)


A scheme for a global sliding mode controller (GSMC) is proposed to achieve robust tracking control of robot manipulators. The proposed scheme provides much flexibility in the design of sliding mode control of robot manipulators by assigning a specific function(s) according to the characteristics and specification(s) of the controller structure. The existence of global sliding is verified according to Lyapunov's second method. The redesign of the variable-structure model-following control (VSMFC) and integral variable-structure control (IVSC) is presented in a scheme proposed to demonstrate its flexibility and superiority with robust tracking control of a two-link revolute joint manipulator subjected to a variable payload. To alleviate chatter induced by finite switching, we propose a novel nonlinear filtering scheme. Simulations were performed to illustrate the efficiency of the proposed method.

頁(從 - 到)463-476
期刊Proceedings of the National Science Council, Republic of China, Part A: Physical Science and Engineering
出版狀態已發佈 - 1994 九月 1


ASJC Scopus subject areas

  • Engineering(all)