A ROBUST DECENTRALIZED 3-SEGMENT NONLINEAR SLIDING MODE CONTROL FOR RIGID ROBOTIC MANIPULATORS

In this paper the design of three-segment non-linear sliding mode para meters is further investigated and a robust decentralized tracking con trol scheme using the three-segment non-linear sliding mode technique for non-linear rigid robotic manipulators is developed. It is shown th at some parameters of the three-segment non-linear sliding mode are re lated to the initial values of the system dynamics and should be suita bly chosen in order to guarantee the stability of the system dynamics. Strong robustness and fast error convergence can be obtained for rigi d robotic manipulators with large uncertain dynamics by using the thre e-segment non-linear sliding mode technique together with a few useful structural properties of rigid robotic manipulators. A simulation exa mple is given in support of the proposed control scheme.