Dynamic modeling and design of second-order sliding-mode controller for arm of roadheader robot
悬臂式掘进机器人截割臂建模与二阶滑模控制器设计

According to the cutting techniques and the structure characteristics of a roadheader robot, we present a dynamic model for its arm and develop for the arm a MIMO control system which is an extension of a second-order sliding-mode control system(2-SMC) based on the finite-state machine. This control system drives the sliding-variable and its derivative to approach zero in a finite time interval without using a rate observer, thus reducing the chattering phenomenon and improving the control accuracy. The proposed MIMO 2-SMC has been applied to the arm control of a roadheader robot. Simulation and experiment show the validity of the proposed algorithm.