Methodology of Mathematical Error-Based Tuning Sliding Mode Controller

摘要: Design a nonlinear controller for second order uncertain dynamical systems is one of the most important challenging works. This paper focuses on design chattering free mathematical error-based tuning sliding mode (MTSMC) highly dynamic robot manipulator, in presence uncertainties. In to provide high performance methodology, selected. Pure can be used control partly known parameters manipulator. Conversely, pure many applications; it has an drawback namely; phenomenon which causes some problems such as saturation and heat mechanical parts manipulators or drivers. reduce this research switching function method instead controller. The results demonstrate that with model-based controllers works well certain system. difficulty handling unstructured model To solve problem applied model-free adjusting surface gain ( λ ). Since λ) adjusted by free-based method, continuous. new obtained previous multiple slopes updating factor �α�. Chattering stable eliminates without use boundary layer function. Lyapunov stability proved (sign)