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Sliding Mode Control of a Robot Manipulator using Proportional-Integral Switching Surface

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: Article
Language:English
Published: ACTA Press 2002
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://eprints.utem.edu.my/id/eprint/9058/1/P16.pdf
http://eprints.utem.edu.my/id/eprint/9058/
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spelling my.utem.eprints.90582015-05-28T04:01:07Z http://eprints.utem.edu.my/id/eprint/9058/ Sliding Mode Control of a Robot Manipulator using Proportional-Integral Switching Surface 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 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 as a case study. ACTA Press 2002-10-01 Article PeerReviewed application/pdf en http://eprints.utem.edu.my/id/eprint/9058/1/P16.pdf Ab Ghani, Mohd Ruddin (2002) Sliding Mode Control of a Robot Manipulator using Proportional-Integral Switching Surface. Proceeding: Intelligent Systems and Control - 2002 (366). pp. 366-019. ISSN 1025-8973
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
Sliding Mode Control of a Robot Manipulator using Proportional-Integral Switching Surface
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 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 as a case study.
format Article
author Ab Ghani, Mohd Ruddin
author_facet Ab Ghani, Mohd Ruddin
author_sort Ab Ghani, Mohd Ruddin
title Sliding Mode Control of a Robot Manipulator using Proportional-Integral Switching Surface
title_short Sliding Mode Control of a Robot Manipulator using Proportional-Integral Switching Surface
title_full Sliding Mode Control of a Robot Manipulator using Proportional-Integral Switching Surface
title_fullStr Sliding Mode Control of a Robot Manipulator using Proportional-Integral Switching Surface
title_full_unstemmed Sliding Mode Control of a Robot Manipulator using Proportional-Integral Switching Surface
title_sort sliding mode control of a robot manipulator using proportional-integral switching surface
publisher ACTA Press
publishDate 2002
url http://eprints.utem.edu.my/id/eprint/9058/1/P16.pdf
http://eprints.utem.edu.my/id/eprint/9058/
_version_ 1665905383286243328
score 13.211869

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