New compound control algorithm in sliding mode control to reduce the chattering phenomenon: experimental validation

TL;DR

This paper introduces a new compound sliding mode control algorithm designed to reduce chattering, validated through experimental tests on a robot arm, enhancing tracking accuracy and robustness.

Contribution

The paper presents a novel compound control law that effectively reduces chattering in sliding mode control, improving system performance.

Findings

Significant reduction in chattering observed in experiments

Enhanced tracking accuracy and robustness demonstrated

Validated on a robot arm with positive results

Abstract

In this work, a new SMS is proposed to achieve high tracking and suitable robustness. However, the chattering phenomenon should be regarded as the main drawback of the SMC. Therefore, a new compound control algorithm is used for reducing the chattering phenomenon. The applied compound control law constantly evaluates the error and send the correct value to the system. This significantly will reduce the chattering phenomenon. The performance of the control methods validated by applying on a robot arm experimentally.