Low-pass-filter-based position synchronization sliding mode control for multiple robotic manipulator systems

摘要

In this study, a novel low-pass-filter-based position synchronization sliding mode control (PSSMC) approach is developed for the operation of multiple robotic manipulator systems (MRMSs). In terms of system synchronization theory and the sliding mode control (SMC) principle, the proposed approach can stabilize position tracking of each robotic manipulator while coordinating its motion with other robotic manipulators. By application of a low-pass filter, the chattering of the robotic manipulator system with SMC can be eliminated. A corresponding stability analysis is presented to lay a foundation for theoretical understanding of the underlying issues as well as safely operating real systems. An illustrative example is bench tested to validate the effectiveness of the proposed approach.