Research On The Application Of Gain Adaptive Sliding Mode Control In Robot

The paper researches on application of sliding mode controlalgorithm in robotic motion control system, and the control algorithm cancreate chattering problems. It presented gain-adaptive sliding modecontrol for solving the chattering problem of sliding mode control.Due to the sliding mode control algorithm is relatively simple, goodrobustness, high reliability, and the sliding mode control algorithmprovides the basic control precision for the knowledge of the boundary ofdisturbances in the system, the algorithm is widely used in robotic control,but the algorithm has the defect—chattering, and the chattering can causethe loss of control precision, even damage the robot components. Degreeof the chattering is usually caused depend on the controller gain, andgain-adaptive sliding mode control is to eliminate overestimate thecontrol gain vibration design of control algorithm.The paper designed traditional sliding mode controller, thegain-adaptive sliding mode controller and the second-order gain-adaptivesliding mode observer for the robotic controller algorithm, and therobotic control algorithm to control the robotic joint position and jointvelocity, reaching the designated position and movement are required.Assumes that the boundary of the disturbances of the joint velocities areunknown, and using traditional sliding mode control algorithm designedthe robot controller, and using Super-twisting observer estimates thespeed of each joint. It designed the two gain-adaptive sliding modecontrol in order to reduce the chattering, and it avoid to overestimate thecontroller gain. It took2-rod robot manipulator as an example, Itsimulates to compare the chatterings with several kinds of sliding modecontrol algorithm.The simulation results show that the gain-adaptive sliding modecontrol algorithm has a very good tracking effect to other sliding modecontrol algorithm of robotic manipulators system in joint position andjoint velocity unknown the boundary of disturbances. It effectively avoid the overestimated the control gain, and it greatly attenuate the slidingmode controller gain chattering, and the research elaborate the robustnessof adaptive control. It design control system for the robot manipulatorsusing the gain-adaptive sliding mode control algorithm for unknownboundary of disturbance.