Proportional-Integral Sliding Mode Tracking Controller with Application to a Robot Manipulator

• Main Author: Ab Ghani, Mohd Ruddin
• Format: Conference or Workshop Item
• Language: English
• Published: 2002
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://eprints.utem.edu.my/id/eprint/8911/1/P8.pdf; http://eprints.utem.edu.my/id/eprint/8911/

This paper presents the development of a Proportional-Integral sliding mode controller to control a class of uncertain systems. It is assumed that the plant to be controlled can be represented by its nominal and bounded parametric uncertainties. A robust sliding mode controller is newly derived so t...