Chattering-attenuated sliding mode control for the IRB 120 industrial robot
Abstract
Sliding mode control techniques have been developed and successfully applied to numerous kinds of robots. The disadvantage of the sliding mode control (SMC) is the chattering phenomenon occurring in the system. Accordingly, designers have to balance between the two objectives of the system namely are the transient time and the chattering level. This article adopts an exponential time-varying gain used in a SMC in order to better reduce the chattering degree and to decrease the transient time compared to a basic SMC using a constant gain. The SMC with the exponential time-varying gain will generate large control signals during the reaching stage, and maintain small control signals throughout the sliding stage to attenuate the chattering level. Theoretical analyses and numerical simulation results applied to the IRB 120 industrial robot reflect the advantage and the efficiency of using the exponential time-varying gain in the sliding mode controller.
Moraref