Sliding-Mode Control for a Class of Robotic Arms

Abstract

In this chapter, a sliding-mode control strategy is discussed for a class of non-linear mechanical subsystems with varying trajectory dynamics. The proposed class of subsystems is represented in this simulation example by a two-link robot actuator/manipulator as a simulator for the spout angle control in harvesting machines. The fractional order is introduced in the setpoint definition to represent changes in the desired trajectory of this subsystem. Furthermore, the same order is used to adapt the control law to the new dynamics. Uncertainties are introduced in the model used for the control law, while robustness is intrinsic. Other linear controllers are also designed and used in comparison analysis, following performance and robustness tests.