Sliding Mode Control of Manipulator Based on Improved Reaching Law and Sliding Surface

Sliding Mode Control of Manipulator Based on Improved Reaching Law and Sliding Surface

Aiming at the problem of convergence speed and chattering in sliding mode variable structure control of manipulator, an improved exponential reaching law and nonlinear sliding surface are proposed, and the Lyapunov function is used to analyze its stability. According to the dynamic model of the 6-DO...

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Bibliographic Details
Main Authors: Peng Ji, Chenglong Li, Fengying Ma
Format: Article
Language:English
Published: MDPI AG 2022-06-01
Series:Mathematics
Subjects:
reaching law
sliding surface
sliding mode control
manipulator
Online Access:https://www.mdpi.com/2227-7390/10/11/1935

Internet

https://www.mdpi.com/2227-7390/10/11/1935

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