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A PI Sliding Mode Tracking Controller with Application to a 3 DOF Direct-Drive Robot Manipulator

Nawawi, S.W and Osman, Johari H. S. and Ahmad, M.N (2004) A PI Sliding Mode Tracking Controller with Application to a 3 DOF Direct-Drive Robot Manipulator. TENCON 2004. 2004 IEEE Region 10 Conference , 4 . pp. 455-458.

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Abstract

This paper deals with the tracking control of direct-drive (DD) robot manipulators. A robust proportional-integral (PI) sliding mode control law is derived for accurate tracking despite the highly nonlinear and coupled dynamics. It is shown mathematically that the proposed controller is capable of withstanding the expected variations and uncertainties present in the system. The performance of the proposed control law is evaluated by means of computer simulation studies on a 3 DOF revolute DD robot manipulator actuated with BLDCM motors.

Item Type:Article
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:Electrical Engineering
ID Code:1918
Deposited By: Dr Zaharuddin Mohamed
Deposited On:16 Mar 2007 07:35
Last Modified:01 Jun 2010 02:59

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