Sliding Mode Control for Robotic Manipulators Based on the Improved Reaching Law

The dual power reaching law is improved in the traditional sliding mode variable structure,and a new and improved dual power reaching law is proposed. The adaptive items are added based on the dual power reaching law,the values of γ and k are adjusted to effectively improve the approaching speed,and chattering is weakened. Finally,the method is used to simulate the anthropomorphic finger's trajectory tracking. An experiment comparing the dual power reaching law control algorithm and the proposed algorithm is completed,and the experiment shows that the proposed algorithm has good dynamic performance,can track the desired trajectory faster,and exhibits less chattering. The proposed algorithm effectively improves the performance of the anthropomorphic finger.