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A robust decentralized three‐segment nonlinear sliding mode control for rigid robotic manipulators
Author(s) -
Zhihong Man,
Palaniswami M.
Publication year - 1995
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/acs.4480090506
Subject(s) - control theory (sociology) , robustness (evolution) , nonlinear system , sliding mode control , robot manipulator , convergence (economics) , computer science , robust control , robot , artificial intelligence , control (management) , physics , biochemistry , chemistry , quantum mechanics , economics , gene , economic growth
In this paper the design of three‐segment non‐linear sliding mode parameters is further investigated and a robust decentralized tracking control scheme using the three‐segment non‐linear sliding mode technique for non‐linear rigid robotic manipulators is developed. It is shown that some parameters of the three‐segment non‐linear sliding mode are related to the initial values of the system dynamics and should be suitably chosen in order to guarantee the stability of the system dynamics. Strong robustness and fast error convergence can be obtained for rigid robotic manipulators with large uncertain dynamics by using the three‐segment non‐linear sliding mode technique together with a few useful smctural properties of rigid robotic manipulators. A simulation example is given in support of the proposed control scheme.