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

中文翻译：

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驱动器动力学下机器人机械臂的鲁棒无模型控制

提出了一种智能比例微分滑模控制器（i-PDSMC），以克服执行器下机器人操纵器的无模型复杂性。i-PDSMC是基于超局部，滑模和PD控制结构的免费模型智能控制。稳定性条件由李雅普诺夫理论确定。经典PD，智能PD控制和i-PDSMC之间的比较研究是通过执行器下的机械手进行的。仿真结果表明，所提出的控制器在参数变化和外部干扰下对轨迹跟踪具有更强的鲁棒性。