U-model-based sliding mode control for manipulator control systems. (2nd August 2022)

• Record Type: Journal Article
• Authors: Lei, Changyi; Zhu, Quanmin; Yang, Chenguang
• Is Part Of: International journal of cybernetics and cyber-physical systems. Volume 1:Number 2(2022)
• Page Start: 137
• Page End: 156
• Publication Date: 2022-08-02
• Subjects: U-model -- sliding mode control -- manipulator -- uncertain non-linear system; Cybernetics -- Periodicals; 003.5
• Languages: English
• ISSNs: 2517-2573

Abstract

This paper investigates U-model-based Sliding Mode Control (SMC) of Multi-Input-Multi-Output (MIMO) uncertain manipulator systems with external disturbance. The proposed controller is composed of a U-model controller, and a sliding mode controller. The U-model controller is implemented to simplify the design procedure, which applies linear techniques to non-linear systems through cancelling the non-linearity and dynamics of original plant. And a sliding mode controller is designed based on Lyapunov theorem to improve the robustness of U-model-based control. The simulation on tracking task of a 2 Degree-of-Freedom (DoF) non-linear manipulator with disturbance demonstrates the enhanced robustness in U-control system operation.