Ideal motion control using pre-shape sliding mode controller

This paper proposes an enhanced sliding mode controller for the set point tracking control, which combine the pre-shape sliding mode control method with motion auxiliary design technique. Using the proposed pre-shape sliding mode controller, not only the robust property of sliding mode controller can be improved, but also the system trajectory can be designed. When comparing with the traditional control method, the proposed algorithm can give a better response with improved robust property. Simulation results for a single link robot manipulator also verify that the proposed controller gives a more attractive performance than the traditional PD computed torque controller