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A full order sliding mode tracking controller for direct drive robot manipulators

Ahmad, Mohamad Noh and Osman, Johari Halim Shah (2004) A full order sliding mode tracking controller for direct drive robot manipulators. In: 2004 5th Asian Control Conference. IEEE, USA, pp. 592-597. ISBN 0780388739

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Abstract

This paper presents the development of a full order sliding mode controller for tracking problem of direct drive robot manipulators. By treating the arm as an uncertain system represented by its nominal and bounded parametric uncertainties, a new robust full-order sliding mode tracking controller is derived such that the actual trajectory tracks the desired trajectory as closely as possible despite the non-linearities and input couplings present in the system. A proportional-integral sliding surface 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 three DOF direct drive robot manipulator is considered.

Item Type:Book Section
Additional Information:ISBN: 0780388739 ; 2004 5th Asian Control Conference; 20-23 July 2004; Melbourne.
Uncontrolled Keywords:couplings, direct drive robot manipulators, proportional-integral sliding surface, sliding mode tracking controller uncertain system
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:Electrical Engineering
ID Code:7443
Deposited By: Norhafizah Hussin
Deposited On:05 Jan 2009 03:46
Last Modified:15 Mar 2011 04:26

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