A model-free continuous integral sliding mode controller for robust control of robotic manipulators
Özet
This paper proposes a model-free continuous integral sliding mode controller
for robust control of robotic manipulators. The highly nonlinear dynamics of
robots and load disturbances cause control challenges. To achieve tracking control under load disturbances and nonlinear parameter variations, the controller
is constructed with three continuous terms including an integral term that acts
as an adaptive controller. The proposed controller is able to accomplish a nonovershoot transient response, a short settling time, and strong disturbance rejection performance for robotic manipulators. The developed model-free control
method is implemented on the PUMA 560 robotic manipulator, and its performance is compared with the proportional-derivative (PD) plus gravity controller.
Numerical results under measurement noise and load disturbances are provided
in order to show the efficacy, validity, and feasibility of the method.
