Ahmad, M. N. and Osman, Johari H. S. (2003) Application of proportional-integral sliding mode tracking controller to robot manipulators. Control Applications, 2003. CCA 2003. Proceedings of 2003 IEEE Conference on . pp. 87-92.
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.
|Subjects:||T Technology > TK Electrical engineering. Electronics Nuclear engineering|
|Deposited By:||Dr Zaharuddin Mohamed|
|Deposited On:||20 Mar 2007 07:37|
|Last Modified:||01 Jun 2010 03:00|
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