Application of proportional-integral sliding mode tracking controller to 2 DOF direct drive robot arm

• Main Authors: K. S. M Kader Ibrahim, Babul Salam, Ahmad, Mohamad Noh, Osman, Johari H. S.
• Format: Conference or Workshop Item
• Published: 2007
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://eprints.utm.my/id/eprint/13774/

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...