Trajectory Tracking Control Strategy of Robotic Arm Based on Adaptive Non-singular Sliding Mode

摘要

The robotic arm system is susceptible to parameter uncertainty, unknown disturbances, and friction during the execution of the desired motion. To solve this problem, an adaptive nonsingular robust integral sliding mode controller and a modified adaptive nonsingular terminal sliding mode controller are designed in this paper. The two controllers have different advantages respectively, but both are able to achieve position tracking and velocity tracking of the robotic arm system. The presence of robust terms in the controllers can resist various types of disturbance well and can make the output error close to 0. The jitter problem of the sliding mode control can be effectively weakened by optimizing the sign function in the sliding mode controller. Finally, the experimental simulation of the robotic arm system is carried out using MATLAB software to verify the effectiveness of the designed controller.