Dynamic sliding mode control of robots using Legendre polynomials and voltage control strategy

In this paper, we propose a robust dynamic sliding mode control technique for robotic systems with unknown functions and external disturbances. The control law is designed using voltage control strategy (VCS). To compensate for the uncertainties and nonlinearities in the controller, an estimator using Legendre polynomials are utilized. The stability analysis guarantees that the tracking errors converge to zero. To illustrate the effectiveness of the proposed controller, numerical simulation results are given in this paper

Keywords:

robotic systems , dynamic sliding mode control , Legendre polynomials , voltage control strategy