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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| Format: | Article |
| Language: | en |
| Published: |
2003
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| Subjects: | |
| Online Access: | http://eprints.utm.my/1948/1/MohamadNohAhmad2003_RobustSlidingModeControlForRobot.pdf http://eprints.utm.my/1948/ |
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| _version_ | 1845470579572867072 |
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| author | Ahmad, M. N. Osman, Johari H. S. |
| author_facet | Ahmad, M. N. Osman, Johari H. S. |
| author_sort | Ahmad, M. N. |
| 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 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 |
| id | my.utm.eprints-1948 |
| institution | Universiti Teknologi Malaysia |
| language | en |
| publishDate | 2003 |
| record_format | eprints |
| spelling | my.utm.eprints-19482011-05-10T05:37:40Z http://eprints.utm.my/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/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. |
| 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 |
| title | 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_short | 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 |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://eprints.utm.my/1948/1/MohamadNohAhmad2003_RobustSlidingModeControlForRobot.pdf http://eprints.utm.my/1948/ |
| url_provider | http://eprints.utm.my/ |