Robust Model-Free Control for Robot Manipulator under Actuator Dynamics

Abstract EN

An intelligent proportional-derivative sliding mode controller (i-PDSMC) is presented to overcome the unmodeled complexity of the robot manipulator under an actuator.

i-PDSMC is a free model intelligent control based on the ultralocal, sliding mode, and PD control structure.

A stability condition is determined by the Lyapunov theory.

A comparative study between a classical PD, an intelligent PD control, and i-PDSMC is done through a robot manipulator under actuators.

The simulation results prove that the proposed controller is more robust to trajectory tracking under parameter variations and external disturbances.