Abstract

Proportional control plays a role in stabilizing the system, and sliding mode variable structure control algorithm has strong robustness to external disturbances and the change of system parameters. The sliding mode controller (SMC) with proportional integral switching gain is given in order to weaken the chattering problem of sliding mode variable structure control, and the stability analysis is provided using Lyapunov stability theorem. Simulation of this approach on one joint of robot is carried out. The simulation results of this approach indicate that this approach is effective in reducing chattering and improving the robot's control accuracy and robustness.

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