Tracking Control of Robot Manipulators Using Sliding Mode

A new methodology using the theory of variable structure systems is developed for accurate tracking control of robotic manipulators. The proposed method, based on a sliding mode controller, produces a discontinuity control input so that the nonlinear interactions and influence caused by unknown parameter variations can be depressed whereas the resulting control law is simple and easy to apply to on-line computer control. The digital simulation results of a three-degree-of-freedom manipulator show the validity of accurate tracking capability and robust performance of the system with the developed control scheme.