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A new variable structure controller for robot manipulators with a nonlinear PID sliding surface
Faculty
Science
Year:
2013
Type of Publication:
Article
Pages:
503-510
Authors:
Atia, Khaled R
DOI:
10.1017/S0263574712000513
Journal:
ROBOTICA CAMBRIDGE UNIV PRESS
Volume:
31
Research Area:
Robotics
ISSN
ISI:000319838500001
Keywords :
Sliding mode control, PID control, Set-point control, Robot control, Asymptotic stability
Abstract:
In this paper a new sliding mode controller for set-point control of robot manipulators is proposed. The controller does not use any part of the robot dynamics in the control law. Thus, it is structurally simpler than other sliding mode controllers where the control law uses a nominal model of the robot dynamics. The controller uses a new nonlinear Proportional-Integral-Derivative (PID) sliding surface. The stability of the controlled robot dynamics is proved. On applying the boundary-layer approach to remove chattering, a nonlinear PID controller exists inside the boundary layer. This PID controller ensures that the error tend to zero asymptotically if there is no disturbances applied to the robot dynamics.
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