Position domain PD sliding mode control for contour tracking

In this paper, a novel position domain PD sliding mode control (PDC-SMC) law is proposed for nonlinear robotic manipulators with the main purpose of improving contour tracking performance. The new controller takes the advantages of the high contour tracking performance of PD type position domain control (PDC) and the robustness of SMC in order to create a model independent control scheme. Stability analysis is performed based on the Lyapunov method, and simulation studies are conducted to verify the effectiveness of the developed PDC-SMC control systems.

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