Abstract
In this paper, two aspects of the sliding mode surface and the approach law are introduced in the design process of the sliding mode controller, and the manipulator sliding mode variable structure controller is also designed. A fast segment sliding mode surface is designed based on tracking error, which increases the speed of the system reaching the equilibrium point from any initial state. The fuzzy theory is used to design the power reaching law, which not only guarantees the buffeting suppression but also increases the approaching speed of the system. The simulation results of the manipulator show that this control law not only has faster convergence speed and tracking accuracy, but also can effectively suppress the chattering in the system and has better control performance.
