Evaluation Performance of 2 nd Order Nonlinear System: Baseline Control Tunable Gain Sliding Mode Methodology

摘要: Refer to this research, a baseline error-based tuning sliding mode controller (LTSMC) is proposed for robot manipulator. Sliding (SMC) an important nonlinear in partly uncertain dynamic system ’s parameters. has difficulty handling unstructured model uncertainties. It possible solve problem by combining and adaption law which method can helps improve the tracking performance online method. Since surface gain ( λ) adjusted method, it continuous. In research new λ obtained previous multiple slopes updating factor �δ� . Baseline stable model-based eliminates chattering phenomenon without use boundary layer saturation function. Lyapunov stability proved based on switching (sign) This acceptable presence of uncertainty (e.g., overshoot=0%, rise time=0.4 second, steady state error = 1.8e-10 RMS error=1.16e-12).