슬라이딩 모드를 이용한 로봇 메니플레이터의 추적제어기

A Tracking Controller for Robot Manipulator Using Sliding Mode Control

In this paper, we design a Continuous Variable Structure Controller which can control robot manipulators to follow the desired planned trajectory with accuracy and robustness, and improve continuity and robustness of variable structure control, based on disturbance observer. We also analyze the stability the proposed algorithm and then verify the usefulness and performance through simulation stuies.