Dynamic sliding mode control for robot manipulators via voltage control strategy

For electrically driven robot manipulators, a dynamic sliding mode control algorithm that avoids the chatteringproblem is proposed in this paper. The control signal is designed using voltage control strategy (VCS). This controlstrategy simplifies the control design to be free from the robot dynamics and improves the precision by taking thedynamics of motors into account. Finally, a numerical example is explained for demonstrating the applicability of theproposed scheme.

Keywords:

dynamic sliding mode control , electrically driven robots , voltage control strategy , chattering problem