Sliding mode variable structure control of RP manipulator based on computational torque

Shuqian Zhang; Wenhui Zhang; Yangfang Ye; Zhongyang Jiang; Ma Jing; Zihao Gao

doi:10.54097/51yx0d97

Authors

Shuqian Zhang
Wenhui Zhang
Yangfang Ye
Zhongyang Jiang
Ma Jing
Zihao Gao

DOI:

https://doi.org/10.54097/51yx0d97

Keywords:

RP manipulators; PID controller; SMVSC; chattering; robust controller.

Abstract

Study the control problem of a coupled robotic arm with moving and rotating joints, a PID control method based on calculated torque is proposed. Considering that the robot model is difficult to obtain accurately, only its estimation model can be obtained. The output feedback signal is used to define the sliding mode surface function with error signal. Sliding mode variable structure controller(SMVSC) is designed based on the computational torque control method. Taking the mathematical model of RP robot as an example, Experimental calculations have found that the control accuracy can be guaranteed, but there is a significant chattering situation. In engineering practice, it is necessary to process the symbol function.

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