Application of proportional-integral sliding mode tracking controller to 2 DOF direct drive robot arm
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...
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my.utm.137742017-09-14T02:49:36Z http://eprints.utm.my/id/eprint/13774/ Application of proportional-integral sliding mode tracking controller to 2 DOF direct drive robot arm K. S. M Kader Ibrahim, Babul Salam Ahmad, Mohamad Noh Osman, Johari H. S. TK Electrical engineering. Electronics Nuclear engineering 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 that the actual trajectory tracks the desired trajectory as closely as possible despite the non-linearities and input couplings present in the system. The Proportional-Integral sliding mode is chosen to ensure the stability of overall dynamics during the entire period i.e. the reaching phase and the sliding phase. The controller is applied to the control of a two-link planar robot manipulator. 2007 Conference or Workshop Item PeerReviewed K. S. M Kader Ibrahim, Babul Salam and Ahmad, Mohamad Noh and Osman, Johari H. S. (2007) Application of proportional-integral sliding mode tracking controller to 2 DOF direct drive robot arm. In: International Conference on Control, Instrumentation and Mechatronics Engineering (CIM'07), 2007, Johor. |
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TK Electrical engineering. Electronics Nuclear engineering K. S. M Kader Ibrahim, Babul Salam Ahmad, Mohamad Noh Osman, Johari H. S. Application of proportional-integral sliding mode tracking controller to 2 DOF direct drive robot arm |
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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 that the actual trajectory tracks the desired trajectory as closely as possible despite the non-linearities and input couplings present in the system. The Proportional-Integral sliding mode is chosen to ensure the stability of overall dynamics during the entire period i.e. the reaching phase and the sliding phase. The controller is applied to the control of a two-link planar robot manipulator. |
format |
Conference or Workshop Item |
author |
K. S. M Kader Ibrahim, Babul Salam Ahmad, Mohamad Noh Osman, Johari H. S. |
author_facet |
K. S. M Kader Ibrahim, Babul Salam Ahmad, Mohamad Noh Osman, Johari H. S. |
author_sort |
K. S. M Kader Ibrahim, Babul Salam |
title |
Application of proportional-integral sliding mode tracking controller to 2 DOF direct drive robot arm |
title_short |
Application of proportional-integral sliding mode tracking controller to 2 DOF direct drive robot arm |
title_full |
Application of proportional-integral sliding mode tracking controller to 2 DOF direct drive robot arm |
title_fullStr |
Application of proportional-integral sliding mode tracking controller to 2 DOF direct drive robot arm |
title_full_unstemmed |
Application of proportional-integral sliding mode tracking controller to 2 DOF direct drive robot arm |
title_sort |
application of proportional-integral sliding mode tracking controller to 2 dof direct drive robot arm |
publishDate |
2007 |
url |
http://eprints.utm.my/id/eprint/13774/ |
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1643646270475075584 |
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13.160551 |