Fast Convergent Sliding Mode Variable Structure Control of Robot

摘要

To improve the convergence speed of sliding mode variable structure control, a new nonlinear sliding mode surface is proposed. When the system reaches any point of the new sliding mode surface, it can converge to the equilibrium point with a higher speed than both linear sliding mode surface and terminal sliding mode surface. At the same time, a new two-power reaching law is proposed which makes the system move toward the sliding mode with a high speed. And the chattering is also eliminated which is an inherent property of traditional sliding mode variable structure control. At last, this new method is used to simulate the trajectory tracking of a robot. The result shows that the system is of strong robustness and high convergence speed. The validity of this method is proved.