Integral Sliding Mode Controller for Trajectory Tracking of a Phantom Omni Robot

摘要

Robust control of non-linear systems with coupled dynamics subject to different types of disturbance is addressed in this paper. The method is applied for control and trajectory tracking of robotic manipulators. Robust trajectory tracking of the robot in the presence of payload force, friction force, and parameters uncertainty is achieved using integral sliding mode controller technique. To evaluate the proposed control system simulation has been performed using the dynamic model of Phantom Omni robot and the results of the simulation demonstrate the superiority of the proposed control system compared with the conventional sliding mode control and PD controller.