Application of Proportional-Integral Sliding Mode Tracking Controller to Robot Manipulators

Abstract

This 'paper presents the development of a Proportional-Integral sliding mode controller for tracking problem of robot manipulators. A robust sliding mode controller is derived so that the actual trajectory tracks the desired trajectory as closely as possible despite the highly non-linear and coupled dynamics. The proposed controller is designed using the centralized and decentralized approaches. The Proportional-Integral sliding mode is chosen to ensure the stability of overall dynamics during the entire period i.e. the reaching phase and the sliding phase. Application to a two-link planar robot manipulator is considered.