A PI Sliding Mode Tracking Controller with Application to a 3 DOF Direct-Drive Robot Manipulator
This paper deals with the tracking control of direct-drive (DD) robot manipulators. A robust proportional-integral (PI) sliding mode control law is derived for accurate tracking despite the highly nonlinear and coupled dynamics. It is shown mathematically that the proposed controller is capable of w...
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | en |
| Published: |
2004
|
| Subjects: | |
| Online Access: | http://eprints.utm.my/1918/1/Nawawi2004_APISlidingModeTrackingController.pdf http://eprints.utm.my/1918/ |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1845470572554747904 |
|---|---|
| author | Nawawi, S.W Osman, Johari H. S. Ahmad, M.N |
| author_facet | Nawawi, S.W Osman, Johari H. S. Ahmad, M.N |
| author_sort | Nawawi, S.W |
| building | UTM Library |
| collection | Institutional Repository |
| content_provider | Universiti Teknologi Malaysia |
| content_source | UTM Institutional Repository |
| continent | Asia |
| country | Malaysia |
| description | This paper deals with the tracking control of direct-drive (DD) robot manipulators. A robust proportional-integral (PI) sliding mode control law is derived for accurate tracking despite the highly nonlinear and coupled dynamics. It is shown mathematically that the proposed controller is capable of withstanding the expected variations and uncertainties present in the system. The performance of the proposed control law is evaluated by means of computer simulation studies on a 3 DOF revolute DD robot manipulator actuated with BLDCM motors. |
| format | Article |
| id | my.utm.eprints-1918 |
| institution | Universiti Teknologi Malaysia |
| language | en |
| publishDate | 2004 |
| record_format | eprints |
| spelling | my.utm.eprints-19182010-06-01T02:59:33Z http://eprints.utm.my/1918/ A PI Sliding Mode Tracking Controller with Application to a 3 DOF Direct-Drive Robot Manipulator Nawawi, S.W Osman, Johari H. S. Ahmad, M.N TK Electrical engineering. Electronics Nuclear engineering This paper deals with the tracking control of direct-drive (DD) robot manipulators. A robust proportional-integral (PI) sliding mode control law is derived for accurate tracking despite the highly nonlinear and coupled dynamics. It is shown mathematically that the proposed controller is capable of withstanding the expected variations and uncertainties present in the system. The performance of the proposed control law is evaluated by means of computer simulation studies on a 3 DOF revolute DD robot manipulator actuated with BLDCM motors. 2004-11-21 Article PeerReviewed application/pdf en http://eprints.utm.my/1918/1/Nawawi2004_APISlidingModeTrackingController.pdf Nawawi, S.W and Osman, Johari H. S. and Ahmad, M.N (2004) A PI Sliding Mode Tracking Controller with Application to a 3 DOF Direct-Drive Robot Manipulator. TENCON 2004. 2004 IEEE Region 10 Conference , 4 . pp. 455-458. |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Nawawi, S.W Osman, Johari H. S. Ahmad, M.N A PI Sliding Mode Tracking Controller with Application to a 3 DOF Direct-Drive Robot Manipulator |
| title | A PI Sliding Mode Tracking Controller with Application to a 3 DOF Direct-Drive Robot Manipulator |
| title_full | A PI Sliding Mode Tracking Controller with Application to a 3 DOF Direct-Drive Robot Manipulator |
| title_fullStr | A PI Sliding Mode Tracking Controller with Application to a 3 DOF Direct-Drive Robot Manipulator |
| title_full_unstemmed | A PI Sliding Mode Tracking Controller with Application to a 3 DOF Direct-Drive Robot Manipulator |
| title_short | A PI Sliding Mode Tracking Controller with Application to a 3 DOF Direct-Drive Robot Manipulator |
| title_sort | pi sliding mode tracking controller with application to a 3 dof direct-drive robot manipulator |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://eprints.utm.my/1918/1/Nawawi2004_APISlidingModeTrackingController.pdf http://eprints.utm.my/1918/ |
| url_provider | http://eprints.utm.my/ |