Multi-task Trajectory Tracking Control of Manipulator Based on Two-Layer Sliding Mode Control

Abstract

The adaptive control of manipulator based on sliding mode control and dynamic equation was originally designed and successfully applied to joint space task tracking. However, in the case of multitasking, it has not been extended in practical engineering, so the controller tends to enforce the main engineering tasks, because the parameters tend to the actual values assumed by the model. In view of the influence of multi task control and uncertain disturbance in practical engineering application, the method to deal with this situation has an important impact on manipulator control. In this paper, the transmission delay and dynamic uncertainty are modeled, the multi task constraint is introduced into the dynamics and kinematics model of the manipulator, a two-layer control is proposed, and the trajectory compensation method is introduced. Finally, the effectiveness of the proposed method is verified by simulation and simple manipulator model.