A model-reaching control design for trajectory tracking

Based on the variable structure model reaching control technique, a dynamic sliding mode strategy is developed for the trajectory tracking problem of a robot manipulator in the presence of parametric uncertainties and external disturbances. By suitable choice of design parameters, the control torque is given in a simple form which is easy to implement. The proposed algorithm was implemented to control two revolute joints of a robot. Results demonstrate accurate tracking capability and robust performance.<
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