Filter-Based Sliding Mode Variable Structure Control Strategy

This represents my recent research accomplishment that I'm currently preparing for manuscript submission. My study concentrates on a specific category of single-joint robots employing a filter-based sliding mode variable structure control strategy. I have developed complete controller components and object S-functions, accompanied by comprehensive system module files. The advantages of this research are self-evident! Regarding the controller implementation, the incorporation of filtering techniques effectively mitigates noise interference on control performance, thereby enhancing system robustness. The sliding mode variable structure control algorithm enables precise robotic manipulation, ensuring stability and accuracy in motion trajectories. The control logic implements a switching function that drives the system states toward a predefined sliding surface, while the filter component uses signal processing techniques to smooth sensor measurements. This research incorporates MATLAB S-functions for both the controller and plant modeling, allowing for seamless integration with Simulink environments. The system modules include configured parameters for controller gains, filter bandwidth, and sliding surface coefficients. Through this investigation, we can further advance the application of single-joint robots in industrial automation and related fields, while providing valuable references for subsequent research. I anticipate that the publication of this paper will contribute meaningful insights and progress to both academic circles and engineering practices!