Robust PID Control with Sliding Mode and Adaptive Rules for Uncertain Systems

Abstract

Abstract—This paper presents a neural network global PID-sliding mode control method for the tracking control of robot manipulators with bounded uncertainties. A certain sliding mode controller with PID sliding function is developed. Mathematical proof of the stability and convergence of the control system is given. Simulation results demonstrate that the chattering and the steady state errors are eliminated and satisfactory trajectory tracking is achieved. Index Terms—PID controller, Robust adaptive control, Sliding mode control, Stability.