A modified observer-based sliding mode controller for robot manipulators
Abstract
Sliding mode control (SMC) is widely adopted by the control community due to its robustness, accuracy, and ease of implementation. Ideally, the switching part of the SMC should be able to compensate for parametric uncertainties while also minimizing chattering. The letter develops a SMC scheme based on the estimated uncertainties from an uniform second-order sliding mode observer (USOSMO). Using the proposed control scheme, chattering is effectively reduced and control performance is enhanced expressively compared to conventional SMC because uncertainty estimations have been achieved with greater accuracy and faster convergence. Finally, a simulation example of a 3 DOF robot manipulator using the developed controller is given to illustrate its effectiveness.
Moraref