A Study on Adaptive-Sliding Mode Control of SCARA Robot

스카라로보트의 적응-슬라이딩모드 제어에 관한 연구

In this paper, it is proposed the adaptive-sliding mode control technique which is new approach to implement the robust control of industrial robot manipulator with external disturbances and parameter uncertainties. Over the past decade, the design of advanced control systems for industrial robotic manipulators has been a very active area of research and two major design categories have emerged. Sliding mode control is a well-known technique for robust control of uncertain nonlinear systems. The robustness of sliding model controllers can be shown in continuous time, but digital implementation may not preserve robustness properties because the sampling process limits the existence of a true sliding mode. Adaptive control algorithm is designed by using the principle of the model reference adaptive control method based upon the hyperstability theory. The proposed control scheme has a simple structure is computationally fast and does not require knowledge of the complex dynamic model or the parameter values of the manipulator or the payload. Simulation results how that the proposed method not only improves the performance of the system but also reduces the chattering problem of sliding mode control. Consequently, it is expected that the new adaptive sliding mode control algorithm will be suited for various practical applications of industrial robot control system.