A Time-delayed Control Scheme with a Sliding Mode Controller for a Robot Manipulator*

Abstract

In this paper, the time-delayed control (TDC) scheme with a sliding mode controller for a robot manipulator is presented. Since TDC suffers from the selection of an inertia matrix of a robot manipulator, the effect of the constant matrix on the performance is investigated. TDC is designed with the sliding mode controller (SMC) to improve the control performance. For the performance comparison between several control schemes, PD control, SMC, TDC, and TDC-SMC are presented. The performances are compared by simulating the same trajectory tracking task of a three link robot manipulator u nder different control schemes.