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Robust sliding mode control for robot manipulator tracking problem using a proportional-integral switching surface

This paper presents the development of a proportional-integral sliding mode controller for tracking problem of robot manipulators. A robust sliding mode controller is derived so that the actual trajectory tracks the desired trajectory as closely as possible despite the highly non-linear and coupled...

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Main Authors: Ahmad, M. N., Osman, Johari H. S.
Format: Article
Language:English
Published: 2003
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://eprints.utm.my/id/eprint/1948/1/MohamadNohAhmad2003_RobustSlidingModeControlForRobot.pdf
http://eprints.utm.my/id/eprint/1948/
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spelling my.utm.19482011-05-10T05:37:40Z http://eprints.utm.my/id/eprint/1948/ Robust sliding mode control for robot manipulator tracking problem using a proportional-integral switching surface Ahmad, M. N. Osman, Johari H. S. TK Electrical engineering. Electronics Nuclear engineering This paper presents the development of a proportional-integral sliding mode controller for tracking problem of robot manipulators. A robust sliding mode controller is derived so that the actual trajectory tracks the desired trajectory as closely as possible despite the highly non-linear and coupled dynamics. The proportional-integral sliding mode is chosen to ensure the stability of the overall dynamics during the entire period i.e. the reaching phase and the sliding phase. Application to a two-link planar robot manipulator is presented. 2003-08-26 Article PeerReviewed application/pdf en http://eprints.utm.my/id/eprint/1948/1/MohamadNohAhmad2003_RobustSlidingModeControlForRobot.pdf Ahmad, M. N. and Osman, Johari H. S. (2003) Robust sliding mode control for robot manipulator tracking problem using a proportional-integral switching surface. Research and Development, 2003. SCORED 2003. Proceedings. Student Conference on . pp. 29-35.
institution Universiti Teknologi Malaysia
building UTM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Malaysia
content_source UTM Institutional Repository
url_provider http://eprints.utm.my/
language English
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
Ahmad, M. N.
Osman, Johari H. S.
Robust sliding mode control for robot manipulator tracking problem using a proportional-integral switching surface
description This paper presents the development of a proportional-integral sliding mode controller for tracking problem of robot manipulators. A robust sliding mode controller is derived so that the actual trajectory tracks the desired trajectory as closely as possible despite the highly non-linear and coupled dynamics. The proportional-integral sliding mode is chosen to ensure the stability of the overall dynamics during the entire period i.e. the reaching phase and the sliding phase. Application to a two-link planar robot manipulator is presented.
format Article
author Ahmad, M. N.
Osman, Johari H. S.
author_facet Ahmad, M. N.
Osman, Johari H. S.
author_sort Ahmad, M. N.
title Robust sliding mode control for robot manipulator tracking problem using a proportional-integral switching surface
title_short Robust sliding mode control for robot manipulator tracking problem using a proportional-integral switching surface
title_full Robust sliding mode control for robot manipulator tracking problem using a proportional-integral switching surface
title_fullStr Robust sliding mode control for robot manipulator tracking problem using a proportional-integral switching surface
title_full_unstemmed Robust sliding mode control for robot manipulator tracking problem using a proportional-integral switching surface
title_sort robust sliding mode control for robot manipulator tracking problem using a proportional-integral switching surface
publishDate 2003
url http://eprints.utm.my/id/eprint/1948/1/MohamadNohAhmad2003_RobustSlidingModeControlForRobot.pdf
http://eprints.utm.my/id/eprint/1948/
_version_ 1643643460439244800
score 13.251813

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