Universiti Teknologi Malaysia Institutional Repository

A decentralized proportional-integral sliding mode tracking controller for robot manipulators

Ahmad, Mohamad Noh and Osman, Johari Halim Shah and A. Ghani, Mohd. Ruddin (2002) A decentralized proportional-integral sliding mode tracking controller for robot manipulators. In: TENCON '02. Proceedings. 2002 IEEE Region 10 Conference on Computers, Communications, Control and Power Engineering, 28-31 Oct 2002, Beijing.

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Official URL: http://dx.doi.org/10.1109/TENCON.2002.1182568


This paper presents a decentralized Proportional-Integral (PI) sliding mode tracking control for a class of robot manipulators. A robust decentralized sliding mode controller is derived so that in each of the sub-system, the actual trajectory tracks the desired trajectory using the information available only on the local states. The PI sliding mode is chosen to ensure the stability of overall dynamics during the entire period i.e. the reaching phase and the sliding phase. It is shown theoretically and by simulation that manipulator systems controlled by the proposed decentralized control law are practically stable.

Item Type:Conference or Workshop Item (Paper)
Uncontrolled Keywords:PI controller, decentralized proportional-integral sliding mode tracking controller, robot manipulators, robust decentralized sliding mode controller, stability
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:Electrical Engineering
ID Code:7437
Deposited By: Norhafizah Hussin
Deposited On:05 Jan 2009 02:46
Last Modified:27 Aug 2017 06:22

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