A Class of Smooth Nonlinear Sliding Mode Control Schemes for Robots
一类平滑的机器人非线性滑动模控制策略

This paper proposes a class of smooth nonlinear sliding mode control schemes for trajectory tracking of robots with uncertainties. The control structure consisting of a continuous nonlinear compensator and a nonlinear feedback term is model independent and can produce smooth control activity. The main feature of the control approach is that a new class of continuous nonliner compensators and nonlinear sliding modes are developed based on a class of saturation type functions to simplify the controller design and improve the transient performance. Furthermore a new first order bounding ploynomial on system uncertainties is introduced instead of the conventional second order ploynomial. It is shown by Lyapunov's theorem and simulations that uncertain effects such as frictions and external disturbances are eliminated, and also the global asymptotic stability can be warranted.