The Application of Sliding Mode Control with Improved Approaching Law in Manipulator Control
- Resource Type
- Conference
- Authors
- Zhang, Junhui; Liu, Bin; Jiang, Zheng; Hu, Huizhong
- Source
- 2018 13th IEEE Conference on Industrial Electronics and Applications (ICIEA) Industrial Electronics and Applications (ICIEA), 2018 13th IEEE Conference on. :807-812 May, 2018
- Subject
- Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Computing and Processing
Fields, Waves and Electromagnetics
Photonics and Electrooptics
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Transportation
Switches
Sliding mode control
Trajectory
Manipulator dynamics
Surface treatment
Information science
Approaching law
manipulator
sliding mode control
chattering
- Language
- ISSN
- 2158-2297
Large chattering is an inherent problem in the sliding mode variable structure control. An improved saturation function is used to replace the symbol function for this problem. The exponential approaching law is improved, and the sliding mode reachability is proved. The improved approaching law can weaken the system chattering compared with the exponential approaching law, and it can track the desired trajectory more precisely compared with the exponential approaching law using the saturation function as the switching function. The above conclusions are demonstrated by the simulation of six-degree-of-freedom manipulator, and the feasibility of the sliding mode control algorithm based on improved approaching law is verified.