Proportional integral sliding mode control of hydraulic robot manipulators with chattering elimination

• Main Authors: Zainul Azlan, Norsinnira, Osman, Johari Halim Shah, Ahmad, Mohamad Noh
• Format: Conference or Workshop Item
• Language: English
• Published: 2006
• Subjects: TJ212 Control engineering; TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://irep.iium.edu.my/45661/1/45661.pdf; http://irep.iium.edu.my/45661/; http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4216598&tag=1

This paper is concerned with the application of a robust control approach based on Sliding Mode Control (SMC) strategy with proportional integral switching surface in controlling the position trajectory of a hydraulic manipulator. This paper also addresses the suppression technique for the unde...