Title: U-model-based sliding mode control for manipulator control systems

Authors: Changyi Lei; Quanmin Zhu; Chenguang Yang

Addresses: Department of Engineering Mathematics, University of Bristol, Bristol, England, UK ' Department of Engineering Design and Mathematics, University of the West of England, Bristol, England, UK ' Department of Engineering Design and Mathematics, University of the West of England, Bristol, England, UK

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.

Keywords: U-model; sliding mode control; manipulator; uncertain non-linear system.

DOI: 10.1504/IJCCPS.2022.124882

International Journal of Cybernetics and Cyber-Physical Systems, 2022 Vol.1 No.2, pp.137 - 156

Received: 28 Jul 2021
Accepted: 23 Aug 2021
Published online: 13 Aug 2022 *

Full-text access for editors Full-text access for subscribers Purchase this article Comment on this article