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Nonlinear PD sliding mode control for robotic manipulator

Trajectory tracking is one of the most control tasks for robotic manipulators. To take the advantages of nonlinear PD (NPD) control and sliding mode control (SMC), a NPD-SMC law is proposed for tracking control of a 3-DOF planar robotic manipulator. The NPD-SMC is a nonlinear feedback control without the requirement of system dynamic modeling. The proposed NPD-SMC is applied for linear and nonlinear tracking problems and the performances are compared with existing controllers. It is demonstrated that the NPD-SMC can achieve better tracking performances.