Application of Proportional-Integral Sliding Mode Tracking Controller to Robot Manipulators
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 co...
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| Main Authors: | , |
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| Format: | Article |
| Language: | en |
| Published: |
2003
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| Subjects: | |
| Online Access: | http://eprints.utm.my/1928/1/article179.pdf http://eprints.utm.my/1928/ |
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| _version_ | 1845470574782971904 |
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| author | Ahmad, Muhammad Noh Osman, Johari H. S. |
| author_facet | Ahmad, Muhammad Noh Osman, Johari H. S. |
| author_sort | Ahmad, Muhammad Noh |
| building | UTM Library |
| collection | Institutional Repository |
| content_provider | Universiti Teknologi Malaysia |
| content_source | UTM Institutional Repository |
| continent | Asia |
| country | Malaysia |
| 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 proposed controller is designed using the centralized and decentralized approaches. 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. Application to a two-link planar robot manipulator is considered. |
| format | Article |
| id | my.utm.eprints-1928 |
| institution | Universiti Teknologi Malaysia |
| language | en |
| publishDate | 2003 |
| record_format | eprints |
| spelling | my.utm.eprints-19282017-10-19T04:49:27Z http://eprints.utm.my/1928/ Application of Proportional-Integral Sliding Mode Tracking Controller to Robot Manipulators Ahmad, Muhammad Noh Osman, Johari H. S. TJ Mechanical engineering and machinery 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 proposed controller is designed using the centralized and decentralized approaches. 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. Application to a two-link planar robot manipulator is considered. 2003 Article PeerReviewed application/pdf en http://eprints.utm.my/1928/1/article179.pdf Ahmad, Muhammad Noh and Osman, Johari H. S. (2003) Application of Proportional-Integral Sliding Mode Tracking Controller to Robot Manipulators. Unspecified . pp. 87-91. |
| spellingShingle | TJ Mechanical engineering and machinery Ahmad, Muhammad Noh Osman, Johari H. S. Application of Proportional-Integral Sliding Mode Tracking Controller to Robot Manipulators |
| title | Application of Proportional-Integral Sliding Mode Tracking Controller to Robot Manipulators |
| title_full | Application of Proportional-Integral Sliding Mode Tracking Controller to Robot Manipulators |
| title_fullStr | Application of Proportional-Integral Sliding Mode Tracking Controller to Robot Manipulators |
| title_full_unstemmed | Application of Proportional-Integral Sliding Mode Tracking Controller to Robot Manipulators |
| title_short | Application of Proportional-Integral Sliding Mode Tracking Controller to Robot Manipulators |
| title_sort | application of proportional-integral sliding mode tracking controller to robot manipulators |
| topic | TJ Mechanical engineering and machinery |
| url | http://eprints.utm.my/1928/1/article179.pdf http://eprints.utm.my/1928/ |
| url_provider | http://eprints.utm.my/ |