An experimental study for decreasing the chattering caused by the discontinuous control

We show the advantage of a generalized sliding control as compared to a classical sliding control from the point of view of chattering due to the discontinuity of the control. From an identification axis by axis of a manipulator arm of SCARA type, we present the synthesis methodology of the robust control algorithm by using the technique of generalized variable structure systems (GVS). The (GVS) controller is applied to a three axis real robot in tracking trajectory mode. Experimentation results are given to show the performances of this new control law taking into account the reduction of chattering, and the robustness as compared to the manipulated payload variation and to external disturbances