Sliding Mode Controller Design for Robot Manipulators

Abstract

This paper deals with the design of a sliding mode controller for a robot manipulator. Due to its order reduction property and its low sensitivity to disturbances and plant parameter variations, sliding mode control is an efficient tool to control complex high-order dynamic plants. The approach is based on a method called the reaching law method, which influences the dynamic quality of the system during the reaching phase, and provides the means for controlling the chattering level. The control scheme is validated through a set of simulations on a Matlab/Simulink package, and the simulation results confirmed the theoretical conclusions.