Sliding mode control of robot manipulators: a case study

A discontinuous compensator is introduced in the controller for accurate tracking control by exploiting the particular structure of the manipulator dynamics. This enables the majority of interactions in the manipulator dynamics to be removed, and progressively refines tracking performance. The introduction of a boundary layer solves the problem of chattering. Compared with other sliding controllers with a compensation part, the major advantage of the proposed technique is its computational simplicity. The scheme is confirmed by digital simulation