Research on Sliding Mode Control for Articulated Manipulators Based on Improved Exponential Trending Law

摘要：

　　In order to eliminate the chattering problem in sliding mode control of articulated manipulators,a sliding mode control scheme based on trending law is designed.We propose an improved exponential trending law based on optimizing and improving the traditional one.The sliding mode control scheme is designed by using the new exponential trending law.We simulate and validate the trending law.The simulation results show that the new trending law can not only guarantee the rapid tracking to the desired trajectory,but also restrain the chattering problem effectively.It enhances the performance of the articulated manipulators.

关键词： Articulated Manipulators Sliding Mode Control Exponential Trending Law Chattering

作者: Caicheng YUE Linfang QIAN Quan ZOU Qingshan JIANG

作者单位: School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,Jiangsu,P.R.China

会议类型: 国际会议

会议名称: The 5th International Conference on Mechanical Engineering and Mechanics(第五届国际机械工程与力学会议)

会议地点: 江苏扬州

会议语种:英文

页码: 618-623

在线出版日期: 2014-08-21（万方平台首次上网日期，不代表论文的发表时间）