Sliding Mode Control of a Robot Manipulator using Proportional-Integral Switching Surface

• Main Author: Ab Ghani, Mohd Ruddin
• Format: Article
• Language: English
• Published: ACTA Press 2002
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://eprints.utem.edu.my/id/eprint/9058/1/P16.pdf; http://eprints.utem.edu.my/id/eprint/9058/

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...