로봇 매니퓰레이터를 위한 삼분 비선형 슬라이딩 모드를 가지는 가변구조 제어

VSC with three-segment nonlinear sliding mode for robot manipulator

In this paper robust tracking control scheme using the new three-segment nonlinear sliding mode technique for nonlinear rigid robotic manipulator is developed. Sliding mode consists of three segments, the promotional acceleration segment, the constant velocity segment and the deceleration segment using terminal sliding mode. Strong robustness and fast error convergence can be obtained for rigid robotic manipulators with large uncertain dynamics by using the new three-segment nonlinear sliding mode technique together with a few useful structural properties of rigid robotic manipulator. The efficiency of the proposed method for the tracking has been demonstrated by simulations for two-link robot manipulator.