Higher Order Sliding Mode Controller for Robotic Manipulator

S. Purwar
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引用次数: 11

Abstract

This paper proposes higher order sliding mode controller for robotic manipulator. The scheme is used to compensate for the influence of unmodeled dynamics and to reduce chattering. Simulation results show that the proposed controller gives better performance compared to fuzzy sliding mode control in the face of uncertain system parameters and external disturbances.
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机械臂的高阶滑模控制
提出了一种适用于机械臂的高阶滑模控制器。该方案用于补偿未建模动力学的影响和减少抖振。仿真结果表明,在系统参数不确定和外部干扰情况下,该控制器比模糊滑模控制具有更好的控制性能。
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