An intelligent proportional-derivative sliding mode controller (i-PDSMC) is presented to overcome the unmodeled\ncomplexity of the robot manipulator under an actuator. i-PDSMC is a free model intelligent control based on the ultralocal,\nsliding mode, and PD control structure. A stability condition is determined by the Lyapunov theory. A comparative study\nbetween a classical PD, an intelligent PD control, and i-PDSMC is done through a robot manipulator under actuators. The\nsimulation results prove that the proposed controller is more robust to trajectory tracking under parameter variations and\nexternal disturbances.
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