Baseline Control Tunable Gain Sliding Mode Methodology

Refer to this research, a baseline error-based tuning sliding mode controller (LTSMC) is proposed for robot manipulator. Sliding mode controller (SMC) is an important nonlinear controller in a partly uncertain dynamic system’s parameters. Sliding mode controller has difficulty in handling unstructured model uncertainties. It is possible to solve this problem by combining sliding mode controller and adaption law which this method can helps improve the system’s tracking performance by online tuning method. Since the sliding surface gain (λ) is adjusted by baseline tuning method, it is continuous. In this research new λ is obtained by the previous λ multiple sliding surface slopes updating factor δ. Baseline error-based tuning sliding mode controller is stable model-based controller which eliminates the chattering phenomenon without to use the boundary layer saturation function. Lyapunov stability is proved in baseline error-base