Integral Sliding Mode Control for Trajectory Tracking of 3DoF Robot Manipulator

Trajectory tracking with high accuracy is a very challenging topic in drive robot manipulator control. This is due to the nonlinearities and input couplings present in the dynamics of the manipulator. This paper deals with the tracking control of a robot manipulator. An integral sliding mode control (ISMC) law is derived so that the robot trajectory tracks a desired trajectory as closely as possible despite the highly non-linear and coupled dynamics.The advantages of the method are that its implementation is easy, the time convergence is chosen in advance and the robustness is ensured .Compared to the classical sliding mode control(SMC), the main features of this integral sliding mode control are the reduced tracking error in the steady state and reduced control efforts in the transient state. Experiment results are included to show the performance of the proposed controller.

Keywords:

Integral sliding mode , robot manipulator control , uncertainty