Fast sliding mode variable structure control for manipulators with chattering suppression effect

Considering the performances of tracking speed and chattering in manipulators trajectory tracking control,a sliding mode variable structure control strategy based on the sliding mode surface and the fuzzy power reaching law was proposed.A fast and nonlinear sliding mode surface was designed by analyzing and comparing the traits of traditional sliding mode surfaces.It achieves a higher convergence speed than fast terminal sliding mode surface,which improves the convergence speed of sliding mode movement.According to fuzzy control theory,a fuzzy power reaching law was designed,which can not only control the chattering effectively but also increase the speed of reaching movement.Simulation results show the efficiency and feasibility of the design.