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Proportional-Integral Sliding Mode Tracking Controller with Application to a Robot Manipulator

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 t...

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Main Author: Ab Ghani, Mohd Ruddin
Format: Conference or Workshop Item
Language:English
Published: 2002
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://eprints.utem.edu.my/id/eprint/8911/1/P8.pdf
http://eprints.utem.edu.my/id/eprint/8911/
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spelling my.utem.eprints.89112015-05-28T04:00:09Z http://eprints.utem.edu.my/id/eprint/8911/ Proportional-Integral Sliding Mode Tracking Controller with Application to a Robot Manipulator Ab Ghani, Mohd Ruddin TK Electrical engineering. Electronics Nuclear engineering 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 closed 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. 2002-12-02 Conference or Workshop Item PeerReviewed application/pdf en http://eprints.utem.edu.my/id/eprint/8911/1/P8.pdf Ab 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 on, 2002/12/2, Singapore.
institution Universiti Teknikal Malaysia Melaka
building UTEM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknikal Malaysia Melaka
content_source UTEM Institutional Repository
url_provider http://eprints.utem.edu.my/
language English
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
Ab Ghani, Mohd Ruddin
Proportional-Integral Sliding Mode Tracking Controller with Application to a Robot Manipulator
description 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 closed 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.
format Conference or Workshop Item
author Ab Ghani, Mohd Ruddin
author_facet Ab Ghani, Mohd Ruddin
author_sort Ab Ghani, Mohd Ruddin
title Proportional-Integral Sliding Mode Tracking Controller with Application to a Robot Manipulator
title_short Proportional-Integral Sliding Mode Tracking Controller with Application to a Robot Manipulator
title_full Proportional-Integral Sliding Mode Tracking Controller with Application to a Robot Manipulator
title_fullStr Proportional-Integral Sliding Mode Tracking Controller with Application to a Robot Manipulator
title_full_unstemmed Proportional-Integral Sliding Mode Tracking Controller with Application to a Robot Manipulator
title_sort proportional-integral sliding mode tracking controller with application to a robot manipulator
publishDate 2002
url http://eprints.utem.edu.my/id/eprint/8911/1/P8.pdf
http://eprints.utem.edu.my/id/eprint/8911/
_version_ 1665905378158706688
score 13.211869

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