Design of a robust high gain PID motion controller using sliding mode theory

In the paper, an approach for motion control of a wide class of robotic systems is presented. This approach is based on following two components: a design of a motion controller working in sliding mode (SM) and its approximation with a high gain PID-controller. In the presented approach the advantage of the sliding mode control (SMC) - the robustness, and the simple implementation of the PID-controller are brought together. At the same time, the main disadvantage of the SMC - chattering - is avoided or at least reduced. It is shown that this approach is applicable to a wide class of robots. For this class of robots, the stability of the closed loop system is proven (for time continuous case). The performance of the presented approach is demonstrated in a real experiment.