Puren R. Ouyang, Wenhui Yue, and Vangjel Pano
PD control, sliding mode control, hybridization, robotic manipulator, stability analysis, trajectory tracking
Trajectory tracking is one of the most important tasks in robotic applications. Proportional-derivative (PD) control is very popular and is implemented in most robotic manipulators, while sliding mode control (SMC) is also well known for tracking control because of its high tracking performance and robustness. In this paper, taking the advantages of the simplicity of PD control and the high tracking performance of SMC, a new hybrid PD-SMC is proposed for trajectory tracking control of nonlinear robotic manipulators. The unique features of the proposed hybrid PD-SMC control are the model-free nonlinear feedback control and its globally asymptotical stability. The effectiveness and robustness of the proposed hybrid PD-SMC are investigated through numerical simulations under different operation conditions for different tasks.
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