A New Approach to Sliding Mode Control of a Robot System with Its Computed Torque Treatment

摘要

This paper is concerned with a new approach to sliding mode control of a robot manipulator with its computed torque treatment. In other words, a new control law is developed by combining the characteristics of the sliding mode control and the computed torque control. The theoretical effectiveness of the new control approach is validated by using the notion of input-to-state stability (ISS), in which the function corresponding to a sliding surface variable is shown to be bounded for bounded modeling errors occurred from the computed torque treatment. The practical effectiveness of the new control approach is also demonstrated through an experiment result for 6-link robotic manipulators.