Higher Order Sliding Mode Control of Uncertain Robot Manipulators

作     者：Neila Mezghani Ben Romdhane Tarak Damak 

作者机构：Lab-STA (Laboratory of Sciences and Techniques of Automatic Control and Computer Engineering) National Engineering School ofSfax Sfax 3038 Tunisia 

出 版 物：《Journal of Electrical Engineering》 (电气工程（英文版）)

年 卷 期：2014年第2卷第3期

页      面：116-123页

学科分类：080802[工学-电力系统及其自动化] 0808[工学-电气工程] 08[工学] 

主　　题：High order sliding mode control of robot Lyapunov method 

摘      要：This paper proposes a higher order sliding mode controller for uncertain robot manipulators. The motivation for using high order sliding mode mainly relies on its appreciable features, such as high precision and elimination of chattering in addition to assure the same performance of conventional sliding mode like robustness. Instead of a regular control input, the derivative of the control input is used in the proposed control law. The discontinuity in the controller is made to act on the time derivative of the control input. The actual control signal obtained by integrating the derivative control signal is smooth and chattering free. The stability and the robustness of the proposed controller can be easily verified by using the classical Lyapunov criterion. The proposed controller is tested to a three-degree-of-freedom robot to prove its effectiveness.