Design of an Integral Suboptimal Second-Order Sliding Mode Controller for the Robust Motion Control of Robot Manipulators

摘要

The formulation of an ((ISSOSM) control algorithm, oriented to solve motion control problems for robot manipulators, is presented in this paper. The proposed algorithm is designed so that the so-called , normally present in the evolution of a system controlled via the sliding mode approach, is reduced to a minimum. This fact makes the algorithm more suitable to be applied to a real industrial robot, since it enhances its robustness, by extending it also to time intervals during which the classical sliding mode is not enforced. Moreover, since the algorithm generates second-order sliding modes, while the model of the controlled electromechanical system has a relative degree equal to one, the control action actually fed into the plant is continuous, which provides a positive chattering alleviation effect. The assessment of the proposal has been carried out by experimentally testing it on a COMAU SMART3-S2 anthropomorphic industrial robot manipulator. The satisfactory experimental results, also compared with those obtained with a standard proportional-derivative controller and with the original suboptimal algorithm, confirm that the new algorithm can actually be used in an industrial context.