Design of Sliding Mode Controller with Low-Pass Filter for Robot Manipulators

Abstract

Sliding mode control had been designed for robot manipulators at presents popularly, but the chattering is also a primary factor which infected the precise of the trace tracking of robot manipulators. This paper proposed a sliding mode control combined with a low-pass filter to deduce the influence by chattering and increase the precise of the trace tracking of robot manipulators. The stability and convergence of the designed controller are proved. The effectiveness of the proposed method is verified by simulation and experiments.