Sliding mode control of a three-DOF robotic system driven by DC motors

This paper proposes a sliding mode control of a 3-DOF robotic system driven by DC motors. Primarily, a conventional sliding mode controller based on a pd sliding surface is designed. Numerical simulations have been carried out to show the proposed control system's robustness properties as well as the significance of the proposed control which resulted in reducing output oscillations (chattering-free) of the given robot. Finally, a simulation example shows the feasibility and effectiveness of the proposed approach.

[1]  K. Jezernik,et al.  Robust position tracking control for direct drive motor , 2000, 2000 26th Annual Conference of the IEEE Industrial Electronics Society. IECON 2000. 2000 IEEE International Conference on Industrial Electronics, Control and Instrumentation. 21st Century Technologies.

[2]  J. J. Slotine,et al.  Tracking control of non-linear systems using sliding surfaces with application to robot manipulators , 1983, 1983 American Control Conference.

[3]  Kar-Keung D. Young.  Controller Design for a Manipulator Using Theory of Variable Structure Systems , 1978, IEEE Transactions on Systems, Man, and Cybernetics.

[4]  R. Decarlo,et al.  Variable structure control of nonlinear multivariable systems: a tutorial , 1988, Proc. IEEE.

[5]  Michael Defoort,et al.  Higher order sliding modes in robotics , 2010 .

[6]  Arie Levant,et al.  Principles of 2-sliding mode design , 2007, Autom..

[7]  Chen Li,et al.  The robust control scheme for free-floating space manipulator to track the desired trajectory in jointspace , 2001 .

[8]  Brian W. Surgenor,et al.  Experimental evaluation of the robustness of discrete sliding mode control versus linear quadratic control , 1997, IEEE Trans. Control. Syst. Technol..

[9]  Jean-Jacques E. Slotine,et al.  The Robust Control of Robot Manipulators , 1985 .