U-model-based sliding mode control for manipulator control systems
by Changyi Lei; Quanmin Zhu; Chenguang Yang
International Journal of Cybernetics and Cyber-Physical Systems (IJCCPS), Vol. 1, No. 2, 2022

Abstract: This paper investigates U-model-based Sliding Mode Control (SMC) of Multi-Input-Multi-Output (MIMO) uncertain manipulator systems with external disturbance. The proposed controller is composed of a U-model controller, and a sliding mode controller. The U-model controller is implemented to simplify the design procedure, which applies linear techniques to non-linear systems through cancelling the non-linearity and dynamics of original plant. And a sliding mode controller is designed based on Lyapunov theorem to improve the robustness of U-model-based control. The simulation on tracking task of a 2 Degree-of-Freedom (DoF) non-linear manipulator with disturbance demonstrates the enhanced robustness in U-control system operation.

Online publication date: Sat, 13-Aug-2022

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