Sliding mode control with exponential reaching law applied on a 3 DOF modular robot arm

This paper introduces a new reaching law in sliding mode control that reduces chattering in steady state, without affecting the robustness or the tracking performance of the controller. The proposed reaching law contains an exponential term that dynamically adapts to the variations of the switching function, thus improving the robustness of the control law and keeping the tracking performance unaffected. The proposed approach is then applied in real time to a 3 DOF modular robot arm. Experimental results are compared to conventional sliding mode approach, from which we conclude the superiority of the proposed approach, especially concerning chattering reduction on control input.