Second Order Sliding Mode Based Synchronization Control for Cooperative Robot Manipulators

This work develops a modern controller design, combining reformulated second order sliding mode conception with the cross-coupling synchronizing approach. The goal behind the developed control architecture is to synchronize a group of robot manipulators while guaranteeing a performant trajectory tracking motion control. The developed robust approach allows not only to deal with sudden disturbances but also to avoid chattering phenomena yielded by acute discontinuous control signals. The Lyapunov-based analysis has been utilized to establish the multi-robot system asymptotic stability. Simulation results have been provided to demonstrate the performance of the adopted control schemes.

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