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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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書誌詳細
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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