Robust Quasi-SMC of Mechanical Manipulators with Dual-Model Pre-Compensation

A simple but robust and reliable sliding mode control (SMC) scheme for mechanical manipulators is proposed in this paper. A dual-model-based pre-compensating structure is first used to decouple and linearize the highly complicated motormanipulator dynamics. Then a linear state-feedback control law is used as, the closed-loop control, which not only ensures that the resulting system has global high-performance but also provides the system with extra redundancy for closed-loop reliability. Finally, a very simple SMC is applied to control the resulting error dynamics of the control system.