Decentralised Three-segment nonlinear sliding mode control for robotic manipulators

Abstract

Three-segment nonlinear sliding mode technique is used for the robust decentralised tracking control of the nonlinear robotic manipulator in this paper. It is shown that the detailed knowledge of a robotic manipulator system is not required in the controller design. Faster, highly insensitive and more accurate transient response can be obtained by the use of the proposed control scheme. A simulation example is given in support of the control scheme.