Sliding Mode Control on Coordination of Master-Slave Manipulator

摘要

In this paper, two cooperative control targets of a master-slave manipulator system are considered. The first target is the mutual alignment control of the two manipulators, and the second target is the tracking command signal control of the manipulator system. These two controllers are based on sliding mode control method. The stability of the manipulator system is guaranteed by Lyapunov method. The effectiveness of the proposed methods in the presence of external disturbances is verified by simulation results.