Hybrid PD-SMC tracking control for serial robot

In this paper, taking the advantages of the simplicity of PD control and the high tracking performance of SMC and avoiding the drawbacks of both control methods, a new hybrid PD-SMC tracking control is proposed for trajectory tracking control of a serial robot by applying the hybridization concept. The unique features of the proposed hybrid control law are the model-free nonlinear feedback control and the globally asymptotic stability. The robustness and effectiveness of the hybrid PD-SMC are investigated through simulations under different operation conditions and for different tasks. It is proved that the hybrid PD-SMC can obtain better tracking performances and is much robust than the standard SMC and PD control.