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Sensors, Networks, Control Systems and Information Processing




Vol. 20, Special Issue, April 2013, pp.69-78



Sliding Mode Tracking Control of Manipulator Based on the Improved Reaching Law


1, 2 Wei-Na ZHAI, 2 Yue-Wang GE, 1 Shu-Zhong SONG, 2 Yan WANG

1 Electronic and Information Engineering College, Henan University of Science and Technology,
No. 263 Kaiyuan Road, Luolong District, Luoyang, 471023, China

Tel.: 15138111723

2 Dept. of Electric Engineering and Automation, Luoyang Institute of Science and Technology, Luoyang, 471023, China

E-mail: zwn_008@163.com


Received: 8 February 2013   /Accepted: 17 April 2013   /Published: 30 April 2013

Digital Sensors and Sensor Sysstems


Abstract: Due to the mechanical hand often have serious uncertainty, as the state in which the different and external changes, also its parameters are changing, this is very adverse to achieve precise control. In this paper, the traditional sliding mode variable structure was improved, the sign function is replaced by saturated function based on the double power reaching law, by adjusting the values of e1, e2, a, b, g and k  to effectively improve the manipulator joint reaching speed, track expected trajectory fast and shorten the system response time. Finally, the method is used for simulation of manipulator trajectory tracking, compared to two reaching law control algorithms. The simulation results show that the control algorithm has good dynamic performance, which can effectively restrain the chattering and quickly track the desired trajectory. Therefore, the improved reaching law can effectively improve the performance of robotic manipulator.


Keywords: Robotic manipulator, Sliding mode control, Reaching law, Fast


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