Sliding Mode Control of a Three-DOF Robotic System Driven by DC Motors

 

Mihailo Lazarević

Srećko Batalov

 

This paper proposes a sliding mode control of a 3-DOF robotic system driven by DC motors. Primarily, a conventional sliding mode controller based on a  sliding surface is designed. Numerical simulations have been carried out to show the proposed control system's robustness properties as well as the significance of the proposed control which resulted in reducing output oscillations (chattering-free) of the given robot. Finally, a simulation example shows the feasibility and effectiveness of the proposed approach.

Key words: robots, robotic system, theory of control, sliding mode control,  nonlinear system.