Second order sliding mode control of pan-tilt joint in modular manipulator

In this paper, a new approach for the robust control of pan-tilt joint in modular manipulator is proposed. The particular properties of pan-tilt joint are analyzed. And then, A MIMO second order sliding mode controller is designed. The proposed approach can eliminate the high frequency chatter and improve the control robustness and accuracy as the same as classical sliding mode. The designed controller also works well even under the lower frequency control, and such relaxes the limit to controlled plants. Simulations have shown the effectiveness of the proposed control method in the trajectory tracking of pan-tilt joint.