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Application of Proportional-Integral Sliding Mode Tracking Controller to Robot Manipulators

Ahmad, Muhammad Noh and Osman, Johari H. S. (2003) Application of Proportional-Integral Sliding Mode Tracking Controller to Robot Manipulators. pp. 87-91.

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Abstract

This 'paper presents the development of a Proportional-Integral sliding mode controller for tracking problem of robot manipulators. A robust sliding mode controller is derived so that the actual trajectory tracks the desired trajectory as closely as possible despite the highly non-linear and coupled dynamics. The proposed controller is designed using the centralized and decentralized approaches. The Proportional-Integral sliding mode is chosen to ensure the stability of overall dynamics during the entire period i.e. the reaching phase and the sliding phase. Application to a two-link planar robot manipulator is considered.

Item Type:Article
Divisions:Electrical Engineering
ID Code:1928
Deposited By: Dr Zaharuddin Mohamed
Deposited On:16 Mar 2007 08:12
Last Modified:01 Jun 2010 02:59

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