Robust motion control for fully actuated robots using sliding mode

In the paper the application of known theory for sliding mode control (SMC) to robust motion control for fully actuated robots is considered. In the presented approach the advantages of SMC like robustness and simplicity of the control law are used. At the same time, the main disadvantage of the SMC - chattering - is avoided or at least reduced. Two controllers based on this approach - a controller working in sliding mode (SM) and its approximation with high gain PID-controller - are presented. For the SM-controller a stability proof is given. Both controllers are applicable to a wide class of robots and can be designed without knowledge of the system model. The performances of both controllers are demonstrated in real experiments with a manipulator, inverted pendulum and hand exoskeleton.