The Application of Sliding Mode Control with Improved Approaching Law in Manipulator Control

Large chattering is an inherent problem in the sliding mode variable structure control. An improved saturation function is used to replace the symbol function for this problem. The exponential approaching law is improved, and the sliding mode reachability is proved. The improved approaching law can weaken the system chattering compared with the exponential approaching law, and it can track the desired trajectory more precisely compared with the exponential approaching law using the saturation function as the switching function. The above conclusions are demonstrated by the simulation of six-degree-of-freedom manipulator, and the feasibility of the sliding mode control algorithm based on improved approaching law is verified.