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A PI Sliding Mode Tracking Controller with Application to a 3 DOF Direct-Drive Robot Manipulator

This paper deals with the tracking control of direct-drive (DD) robot manipulators. A robust proportional-integral (PI) sliding mode control law is derived for accurate tracking despite the highly nonlinear and coupled dynamics. It is shown mathematically that the proposed controller is capable of w...

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主要な著者: Nawawi, S.W, Osman, Johari H. S., Ahmad, M.N
フォーマット: 論文
言語:English
出版事項: 2004
主題:
TK Electrical engineering. Electronics Nuclear engineering
オンライン･アクセス:http://eprints.utm.my/id/eprint/1918/1/Nawawi2004_APISlidingModeTrackingController.pdf
http://eprints.utm.my/id/eprint/1918/
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spelling my.utm.19182010-06-01T02:59:33Z http://eprints.utm.my/id/eprint/1918/ A PI Sliding Mode Tracking Controller with Application to a 3 DOF Direct-Drive Robot Manipulator Nawawi, S.W Osman, Johari H. S. Ahmad, M.N TK Electrical engineering. Electronics Nuclear engineering This paper deals with the tracking control of direct-drive (DD) robot manipulators. A robust proportional-integral (PI) sliding mode control law is derived for accurate tracking despite the highly nonlinear and coupled dynamics. It is shown mathematically that the proposed controller is capable of withstanding the expected variations and uncertainties present in the system. The performance of the proposed control law is evaluated by means of computer simulation studies on a 3 DOF revolute DD robot manipulator actuated with BLDCM motors. 2004-11-21 Article PeerReviewed application/pdf en http://eprints.utm.my/id/eprint/1918/1/Nawawi2004_APISlidingModeTrackingController.pdf Nawawi, S.W and Osman, Johari H. S. and Ahmad, M.N (2004) A PI Sliding Mode Tracking Controller with Application to a 3 DOF Direct-Drive Robot Manipulator. TENCON 2004. 2004 IEEE Region 10 Conference , 4 . pp. 455-458.
institution Universiti Teknologi Malaysia
building UTM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Malaysia
content_source UTM Institutional Repository
url_provider http://eprints.utm.my/
language English
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
Nawawi, S.W
Osman, Johari H. S.
Ahmad, M.N
A PI Sliding Mode Tracking Controller with Application to a 3 DOF Direct-Drive Robot Manipulator
description This paper deals with the tracking control of direct-drive (DD) robot manipulators. A robust proportional-integral (PI) sliding mode control law is derived for accurate tracking despite the highly nonlinear and coupled dynamics. It is shown mathematically that the proposed controller is capable of withstanding the expected variations and uncertainties present in the system. The performance of the proposed control law is evaluated by means of computer simulation studies on a 3 DOF revolute DD robot manipulator actuated with BLDCM motors.
format Article
author Nawawi, S.W
Osman, Johari H. S.
Ahmad, M.N
author_facet Nawawi, S.W
Osman, Johari H. S.
Ahmad, M.N
author_sort Nawawi, S.W
title A PI Sliding Mode Tracking Controller with Application to a 3 DOF Direct-Drive Robot Manipulator
title_short A PI Sliding Mode Tracking Controller with Application to a 3 DOF Direct-Drive Robot Manipulator
title_full A PI Sliding Mode Tracking Controller with Application to a 3 DOF Direct-Drive Robot Manipulator
title_fullStr A PI Sliding Mode Tracking Controller with Application to a 3 DOF Direct-Drive Robot Manipulator
title_full_unstemmed A PI Sliding Mode Tracking Controller with Application to a 3 DOF Direct-Drive Robot Manipulator
title_sort pi sliding mode tracking controller with application to a 3 dof direct-drive robot manipulator
publishDate 2004
url http://eprints.utm.my/id/eprint/1918/1/Nawawi2004_APISlidingModeTrackingController.pdf
http://eprints.utm.my/id/eprint/1918/
_version_ 1643643452177514496
score 13.251813

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