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Full‐Order Sliding‐Mode Control of Rigid Robotic Manipulators
Author(s) -
Feng Yong,
Zhou Minghao,
Yu Xinghuo,
Han Fengling
Publication year - 2019
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.1813
Subject(s) - control theory (sociology) , sliding mode control , controller (irrigation) , engineering , ideal (ethics) , mode (computer interface) , control engineering , power (physics) , function (biology) , robust control , computer science , control (management) , control system , nonlinear system , artificial intelligence , physics , philosophy , electrical engineering , epistemology , quantum mechanics , evolutionary biology , agronomy , biology , operating system
This paper proposes a full‐order sliding‐mode control for rigid robotic manipulators. The output signals of the proposed controller are continuous. Therefore, the controller can be directly applied in practice. A time‐varying gain is constructed to regulate the gain of the signum function in the sliding‐mode control so as to avoid the overestimation of the upper‐bounds of the uncertainties in the systems and reduce the waste of the control power. The chattering is attenuated by using a novel full‐order sliding manifold and establishing a novel ideal sliding motion. The proposed method is robust to the load disturbance and unmodeled parameters, especially to the unknown portion in the control matrix. Simulation results validate the proposed methods.