Articles | Volume 15, issue 1
https://doi.org/10.5194/ms-15-55-2024
https://doi.org/10.5194/ms-15-55-2024
Research article
 | 
05 Feb 2024
Research article |  | 05 Feb 2024

A novel generalized sliding mode controller for uncertain robot manipulators based on motion constraints

Zhaodong Wang, Lixue Mei, and Xiaoqun Ma

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Short summary
To improve the trajectory tracking control performance for robot manipulators subject to uncertainty, a generalized sliding mode controller (SMC) is designed. In the first step, it is assumed that the dynamic model of robot manipulators is precisely known, and an ideal control is designed. In the second step, a smooth-function-based SMC is designed to prevent the chattering phenomenon caused by the discontinuous function and further enhance the robustness performance.