Robust, smooth and fast ASMC - applications to robot manipulators

Abstract eng:
In this contribution, we discuss different designs based on the concept of sliding mode control (SMC) to deal with uncertain robotic dynamics in general. We demonstrate the effectiveness of a recently proposed adaptive sliding mode control (ASMC) design with a novel switching gain dynamics, called integral/exponential adaptation law and referred to as IEG-ASMC hereafter. An adjusting term to improve the robustness of this gain adaptation during the reaching phase will be discussed. The proposed design does not require a priori knowledge of the upper bounds of perturbations. These perturbations are not necessarily assumed to be bounded. Tested with different constant-gain-based SMC and ASMC schemes, the simulation results on a five-link robot manipulator dynamics show chatter elimination on control actions, faster responses and better tracking error performances of the new IEG-ASMC design.

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