3919 Sliding Mode Control with Quadratic Switching Functions for Robot Manipulators
Details
A new sliding surface which is constructed by quadratic functions is presented to control a SISO nonlinear dynamical system with parameter uncertainties and external disturbances. Based on the new sliding surface, a design scheme for control of two-degree-of-freedom rigid manipulators is proposed. A numerical simulation shows that the proposed method has improved the system performance in terms of elimination of reaching phase and robustness to disturbances.
