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Proportional-integral sliding mode tracking controller with application to a robot manipulator

Ahmad, Mohamad Noh and Osman, Johari Halim Shah and A. Ghani, Mohd. Ruddin (2002) Proportional-integral sliding mode tracking controller with application to a robot manipulator. In: Control, Automation, Robotics and Vision, 2002. ICARCV 2002. 7th International Conference, 2-5 Dec 2002, Singapore.

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Official URL: http://dx.doi.org/10.1109/ICARCV.2002.1238537


This paper presents the development of a Proportional-Integral sliding mode controller to control a class of uncertain systems. It is assumed that the plant to be controlled can be represented by its nominal and bounded parametric uncertainties. A robust sliding mode controller is newly derived so that the actual trajectory tracks the desired trajectory as closely as possible despite the non-linearities and input couplings present in the system. 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. The controller is applied to the control of a two-link planar robot manipulator.

Item Type:Conference or Workshop Item (Paper)
Uncontrolled Keywords:PI controller, bounded parametric uncertainties, dynamics nominal parametric uncertainties, nonlinear dynamical systems, nonlinearities, robust sliding mode controller, sliding mode tracking, sliding phase, stability, trajectory tracks, two-link planar robot manipulator, uncertain systems
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:Electrical Engineering
ID Code:7428
Deposited By: Norhafizah Hussin
Deposited On:05 Jan 2009 01:47
Last Modified:27 Aug 2017 06:15

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