Trajectory Tracking Control of Robotic Manipulators Based on Smooth Second-order Sliding Mode

Authors

Ruimin Zhang, School of Mathematics and Statistics, Henan University of Science and Technology, Luoyang 471000, China;
Qiaoyu Chen, School of Mathematics and Statistics, Henan University of Science and Technology, Luoyang 471000, China;

Abstract

Abstract: The robotic manipulators have characteristics of strong nonlinearity, strong coupling, multiple input and output, uncertainties, and so on. It is necessary to proposed a multivariable smooth second-order sliding mode trajectory tracking control method. The method can eliminate the chattering in the conventional sliding mode control and increase convergence speed. The property of finite time convergency is proved by the Lyapunov stability theory. Furthermore, the method is applied for the tracking control of two-joint robotic manipulators with model uncertainty and external disturbances. The simulation results show that the proposed method is effective and has high control precision and strong robustness.

Recommended Citation

Zhang, Ruimin and Chen, Qiaoyu (2021) "Trajectory Tracking Control of Robotic Manipulators Based on Smooth Second-order Sliding Mode," Journal of System Simulation: Vol. 33: Iss. 6, Article 10.
DOI: 10.16182/j.issn1004731x.joss.20-0143
Available at: https://dc-china-simulation.researchcommons.org/journal/vol33/iss6/10

First Page

1315

Revised Date

2020-05-22

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.20-0143

Last Page

1322

CLC

TP273

Recommended Citation

Zhang Ruimin, Chen Qiaoyu. Trajectory Tracking Control of Robotic Manipulators Based on Smooth Second-order Sliding Mode[J]. Journal of System Simulation, 2021, 33(6): 1315-1322.

DOI

10.16182/j.issn1004731x.joss.20-0143