A Sliding Mode Control with Time-Delay Estimator for 6-DOF Industrial Robot

摘要

This paper presents a sliding mode control (SMC) scheme using the time-delay estimator (TDE) for a 6-DOF industrial robot. The 6-DOF industrial robot is a complex system with high nonlinearity, which makes it difficult to control, especially when considering model uncertainties and external disturbances. Conventional SMC has been designed to address the above-mentioned problems due to its robustness against nonlinear components. Additionally, TDE is a practical technique for estimating unknown dynamics and compensating uncertainties with no prior knowledge of manipulator dynamics. Therefore, the sliding mode control integrating TDE is proposed to yield high efficiency and enhance the accuracy of tracking performance. Meanwhile, the stability of the proposed controller is investigated through Lyapunov-based approaches. Lastly, the simulation results on MATLAB Simulink obviously demonstrate the outstanding effectiveness and robustness of the proposed controller through comparisons with PD and conventional SMC methods.