论文标题
在滑动模式控制下的新复合控制算法以减少chat不休现象：实验验证
New compound control algorithm in sliding mode control to reduce the chattering phenomenon: experimental validation
论文作者
论文摘要
在这项工作中，提出了新的SMS来实现高跟踪和合适的鲁棒性。但是，摇晃的现象应被视为SMC的主要缺点。因此，一种新的化合物控制算法用于减少chat不休现象。应用的复合控制法不断评估错误并将正确的值发送给系统。这将大大减少chat不休的现象。通过实验上施用机器人臂验证的控制方法的性能。
In this work, a new SMS is proposed to achieve high tracking and suitable robustness. However, the chattering phenomenon should be regarded as the main drawback of the SMC. Therefore, a new compound control algorithm is used for reducing the chattering phenomenon. The applied compound control law constantly evaluates the error and send the correct value to the system. This significantly will reduce the chattering phenomenon. The performance of the control methods validated by applying on a robot arm experimentally.
