A full order sliding mode tracking controller for direct drive robot manipulators
This paper presents the development of a full order sliding mode controller for tracking problem of direct drive robot manipulators. By treating the arm as an uncertain system represented by its nominal and bounded parametric uncertainties, a new robust full-order sliding mode tracking controller is...
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| Main Authors: | , |
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| Format: | Book Section |
| Published: |
IEEE
2004
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| Subjects: | |
| Online Access: | http://eprints.utm.my/id/eprint/7443/ http://ieeexplore.ieee.org/document/1426014/ |
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| Summary: | This paper presents the development of a full order sliding mode controller for tracking problem of direct drive robot manipulators. By treating the arm as an uncertain system represented by its nominal and bounded parametric uncertainties, a new robust full-order sliding mode tracking controller is derived such that the actual trajectory tracks the desired trajectory as closely as possible despite the non-linearities and input couplings present in the system. A proportional-integral sliding surface is chosen to ensure the stability of overall dynamics during the entire period i.e. the reaching phase and the sliding phase. Application to a three DOF direct drive robot manipulator is considered. |
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