Design New Control Methodology of Industrial Robot Manipulator: Sliding Mode Baseline Methodology

摘要

Design a nonlinear controller for second order nonlinear uncertain dynamical systems is one of the most important challenging works. This paper focuses on the design of a chattering free mathematical baseline sliding mode controller (BSMC) for highly nonlinear dynamic robot manipulator, in presence of uncertainties and external disturbance. In order to provide high performance nonlinear methodology, sliding mode controller and baseline methodology are selected. Conversely, pure sliding mode controller is used in many applications; it has an important drawback namely; chattering phenomenon which it can causes some problems such as saturation and heat the mechanical parts of robot manipulators or drivers so baseline sliding mode controller is used to eliminate this important challenge. In order to reduce the chattering this research is used the switching function in presence of baseline method instead of switching function method in pure sliding mode controller. The results demonstrate that baseline sliding mode controller with switching function is a model-based controllers which works well in certain and partly uncertain system and have a better performance compare to pure sliding mode controller. Chattering free baseline sliding mode controller is stable controller which eliminates the chattering phenomenon without to use the boundary layer saturation function.