Ahmad, M. N. and Osman, Johari H. S. (2003) Robust sliding mode control for robot manipulator tracking problem using a proportional-integral switching surface. Research and Development, 2003. SCORED 2003. Proceedings. Student Conference on . pp. 29-35.
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 proportional-integral sliding mode is chosen to ensure the stability of the overall dynamics during the entire period i.e. the reaching phase and the sliding phase. Application to a two-link planar robot manipulator is presented.
|Subjects:||T Technology > TK Electrical engineering. Electronics Nuclear engineering|
|Deposited By:||Dr Zaharuddin Mohamed|
|Deposited On:||19 Mar 2007 05:10|
|Last Modified:||10 May 2011 05:37|
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