In this study, two different control logics have been designed for the position control of a robot with five degrees of freedom (DOFs). First, a sliding mode control with a sliding perturbation observer (SMCSPO) has been proposed. The SMCSPO is robust against perturbation, which is the sum of nonlinearities, parametric uncertainties, and external disturbances. To implement the SMCSPO, linear parameters of the system are required; however, these are difficult to identify. Moreover, it is exigent to derive the equation of motion for the multi-DOF robot. Accordingly, an integral sliding mode control (ISMC) has been designed for the position control of this multi-DOF robot. The ISMC controller does not require a mathematical model of the system. The ISMC control input applies a switching gain to compensate for the perturbation and system dynamics. In comparison with the SMCSPO, the ISMC has improved the tracking performance of the system because of its unique characteristics. Both control schemes have been implemented in MATLAB/Simulink. It has been observed that the tracking error of each ISMC joint is lower than that of the SMCSPO.

中文翻译：

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不考虑系统动力学的多自由度机器人轨迹跟踪控制

在这项研究中，设计了两种不同的控制逻辑，用于具有五个自由度 (DOF) 的机器人的位置控制。首先，已经提出了具有滑动扰动观测器 (SMCSPO) 的滑动模式控制。SMCSPO 对扰动具有鲁棒性，扰动是非线性、参数不确定性和外部干扰的总和。要实现 SMCSPO，需要系统的线性参数；然而，这些很难确定。此外，迫切需要推导出多自由度机器人的运动方程。因此，针对这种多自由度机器人的位置控制设计了积分滑模控制（ISMC）。ISMC 控制器不需要系统的数学模型。ISMC 控制输入应用开关增益来补偿扰动和系统动态。与SMCSPO相比，ISMC因其独特的特性提高了系统的跟踪性能。这两种控制方案都已在 MATLAB/Simulink 中实现。已经观察到，每个 ISMC 关节的跟踪误差都低于 SMCSPO。