Robust Tracking and Cruise Control of a Class of Robotic Systems

Abstract EN

This paper presents a controller for a class of robotic systems, based on a first-order sliding mode with a particular noninvariant, nonconnected surface.

With this control it is possible to regulate the position such that the velocity remains, as long as possible, at a specified value until the system is close to the desired position.

The properties inherited from the sliding modes make the control exhibit a high robustness to external perturbations and low sensitivity to system parameter variations.

It is shown that the desired speed is reached in a finite time and the system converges exponentially to the desired position.

This controller can be applied to systems described by a classical model of a fully actuated, n-DOF mechanical system, which could be decoupled via a preliminary decoupling control.

To illustrate the theoretical results, the proposed control technique is applied to a Cartesian robot, simulated numerically.

Moreover, to show the effectiveness of this strategy, some physical experiments on a rotational (mechanical) device were performed.