Sliding mode control of a three-DOF robotic system driven by DC motors

Scientific Technical Review

Batalov Srećko¹  Lazarević Mihailo² 

[1] Energoprojekt Entel, Belgrade;University of Belgrade, Faculty of Mechanical Engineering, Department of Mechanics, Belgrade;

关键词: robots;    robotic system;    theory of control;    sliding mode control;    nonlinear system;   

DOI  :  

来源: DOAJ

【 摘 要 】

This paper proposes a sliding mode control of a 3-DOF robotic system driven by DC motors. Primarily, a conventional sliding mode controller based on a pd sliding surface is designed. Numerical simulations have been carried out to show the proposed control system's robustness properties as well as the significance of the proposed control which resulted in reducing output oscillations (chattering-free) of the given robot. Finally, a simulation example shows the feasibility and effectiveness of the proposed approach.

【 授权许可】

Unknown