In this paper, a gain scheduled sliding mode control (SMC) scheme is proposed for tracking control tasks of multilink robotic manipulators. In the new scheme, filtering techniques play the key role in acquiring equivalent control signals and scheduling the switching control gain automatically. Once the system enters the sliding motion, two classes of low-pass filters are introduced to work concurrently for the purpose of acquiring equivalent control, reducing the switching gain effectively, and as a result eliminating chattering. By virtue of equivalent control theory, one class of filters is designed to capture the “average” profile of the switching quantity, which is in proportion to the desired control input. Meanwhile, another class of low-pass filters is added to scale down the gain of the switching control. The convergence property of the proposed control scheme is rigorously analyzed in time domain and the frequency domain knowledge can be easily incorporated into the construction of the two classes of filters. Excellent tracking performance is achieved with the direct manipulation of switching control input using filtering technology and with the integration of both time domain and frequency domain system knowledge in controller design. [S0022-0434(00)01604-X]
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e-mail: elexujx@nus.edu.sg
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December 2000
Technical Papers
A Gain Scheduled Sliding Mode Control Scheme Using Filtering Techniques With Applications to Multilink Robotic Manipulators
Jian-Xin Xu, Associate Professor,
e-mail: elexujx@nus.edu.sg
Jian-Xin Xu, Associate Professor
Electrical and Computer Engineering Department, National University of Singapore, 10 Kent Ridge Crescent, Singapore 119260
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Ya-Jun Pan,
Ya-Jun Pan
Electrical and Computer Engineering Department, National University of Singapore, 10 Kent Ridge Crescent, Singapore 119260
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Tong-Heng Lee
Tong-Heng Lee
Electrical and Computer Engineering Department, National University of Singapore, 10 Kent Ridge Crescent, Singapore 119260
Search for other works by this author on:
Jian-Xin Xu, Associate Professor
Electrical and Computer Engineering Department, National University of Singapore, 10 Kent Ridge Crescent, Singapore 119260
e-mail: elexujx@nus.edu.sg
Ya-Jun Pan
Electrical and Computer Engineering Department, National University of Singapore, 10 Kent Ridge Crescent, Singapore 119260
Tong-Heng Lee
Electrical and Computer Engineering Department, National University of Singapore, 10 Kent Ridge Crescent, Singapore 119260
Contributed by the Dynamic Systems and Control Division for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the Dynamic Systems and Control Division February 21, 2000. Associate Technical Editors: E. Misawa and V. Utkin.
J. Dyn. Sys., Meas., Control. Dec 2000, 122(4): 641-649 (9 pages)
Published Online: February 21, 2000
Article history
Received:
February 21, 2000
Citation
Xu, J., Pan , Y., and Lee, T. (February 21, 2000). "A Gain Scheduled Sliding Mode Control Scheme Using Filtering Techniques With Applications to Multilink Robotic Manipulators ." ASME. J. Dyn. Sys., Meas., Control. December 2000; 122(4): 641–649. https://doi.org/10.1115/1.1318352
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