Control of robotic manipulator with integral sliding mode

الملخص EN

A new integral sliding mode control law for robotic manipulators with parameter uncertainty and external bounded disturbance is proposed.

The optimal control is used to determine the control of the nominal part of the robot.

To compensate the uncertainties and disturbances and to eliminate the chattering a continuous control deduced from integral sliding mode is added to the optimal control.

With the integral sliding mode control the reaching phase is eliminated.

As the result, robustness of the system can be guaranteed from the beginning of the control process.

The proposed integral sliding mode control is applied to a 3 degree-of-freedom robot to prove its effectiveness.