Universiti Teknologi Malaysia Institutional Repository

Robust sliding mode control for robot manipulator tracking problem using a proportional-integral switching surface

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.

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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 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.

Item Type:Article
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:Electrical Engineering
ID Code:1948
Deposited By: Dr Zaharuddin Mohamed
Deposited On:19 Mar 2007 05:10
Last Modified:10 May 2011 05:37

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