Sliding-mode position control of robot joint based on self-adaptive parameters adjusting

The single robot joint, which contains a DC torque motor and a harmonic reducer, was designed. And sliding mode control strategy by the self-adaptive adjustment of the sliding parameter ε was proposed in this paper. This control strategy can adaptively adjust ε by switching variables and their derivatives according to the system. It is applied in the control of robot joint to solve the contradiction between the exponential reaching law response speed and chattering. Simulation results show that the open-loop control response time of the parameter adaptive adjustment sliding mode control is 0.3s. The experiment results show that under the control of adaptive sliding mode with joint angle 45 and rise-time 0.23s, the maximum overshoot is 0.4%, with no chattering and a good dynamic quality.