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Trajectory control of a manipulator by the decoupling sliding mode method  

Nam Taek-Kun (목포해양대학교 기관시스템공학부)
Publication Information
Journal of Advanced Marine Engineering and Technology / v.29, no.8, 2005 , pp. 842-848 More about this Journal
Abstract
The decoupling control using state feedback was once intensively studied during 1960's by many researchers. However, this control scheme was sensitive to the disturbance and Parameter variations. SMC(sliding mode control) is known as a robust control methodology to overcome such a disturbance. In this paper. the decoupling control by means of SM(sliding mode) for a trajectory control of a two-degrees-of- freedom manipulator was discussed. The position and velocity of manipulator tip were adopted to compose a nonlinear error functions. The reference inputs of the controller can be decided by switching function combined with the desired position and velocity. Simulation result is provided to verify the effectiveness of the proposed control scheme.
Keywords
Manipulator; Sliding mode; Trajectory control;
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