Trajectory Tracking Control of Robotic Manipulators Based on Smooth Second-order Sliding Mode

doi:10.16182/j.issn1004731x.joss.20-0143

Abstract

Abstract: The robotic manipulators have characteristics of strong nonlinearity, strong coupling, multiple input and output, uncertainties, and so on. It is necessary to proposed a multivariable smooth second-order sliding mode trajectory tracking control method. The method can eliminate the chattering in the conventional sliding mode control and increase convergence speed. The property of finite time convergency is proved by the Lyapunov stability theory. Furthermore, the method is applied for the tracking control of two-joint robotic manipulators with model uncertainty and external disturbances. The simulation results show that the proposed method is effective and has high control precision and strong robustness.

Key words: manipulator, trajectory tracking, sliding mode control, smooth second order sliding mode, finite time convergence

CLC Number:

TP273

Zhang Ruimin, Chen Qiaoyu. Trajectory Tracking Control of Robotic Manipulators Based on Smooth Second-order Sliding Mode[J]. Journal of System Simulation, 2021, 33(6): 1315-1322.

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