Dual Closed Loop Sliding Mode Variable Structure Control for Moves the robots

On the basis of the control characteristics of Moves the robots, the inner and outer loops adopt different synovial control laws to realize $\theta$ fast tracking $\theta_{d}$ ; Judging whether the system is stable by Lyapunov stability equation, and the syatem stability is proved theoretically. The experimental results show that the dual loop sliding mode variable structure control algorithm is effective and can precisely make Moves the robots follow-up tracking.