Motion Control on the Working Device of a Demolition Robot Based on an Exponential Reaching Law

摘要

For the first arm of a GTRC-15 Demolition Robot, this paper uses a sliding mode variable structure controller to control the movement of the working device based on the exponential reaching law. The simulation results show that under the unit step signal, the steady-state error and stability of the system based on the exponential reaching law are better than these performances based on the traditional PID control strategy, which demonstrates this method is effective.