Sliding mode control of manipulator whose nonlinear components are regarded as external disturbance

비선형 성분을 외한으로 간주했을때의 매니퓰레이터의 슬라이딩 모드제어

This paper discusses sliding made control of robot manipurators assuming that nonlinear terms, which are inertia term, Coriolis force term and centrifugal taffn, are external disturbances. We obtained the unknown parameter of its linear terms by Signal Compression Method. We propose a new control input algorithm to decrease chattering in the application of sliding mode control of manipulator whose nonlinear components are regarded as disturbances. In this experiments, we used DSP(Digital Signal Processor) controller to suppress chattering by obtaining a quick switching speed.