Continuous sliding mode control of dd robot mechanism

摘要

A non-model-based discrete-time chattering-free sliding mode control scheme is applied. In the discrete-time expression the discontinuous operation of controllers in the sliding mode has been replaced by the continuous one. The chattering of control input has been attenuated and the excitation of the dynamic system without high freuqency oscillations has been achieved. The proposed control solution is near an ideal control function in the sliding mode. Unlike other algorithms intended to avoid chattering, this non model based appraoch uses only the information about the distance from the sliding mode manifold to derive the control. the proposed control scheme is applied on a mininal configuration direct drive robot mechanism.