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

• Main Authors: Nawawi, S.W, Osman, Johari H. S., Ahmad, M.N
• Format: Article
• Language: English
• Published: 2004
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://eprints.utm.my/id/eprint/1918/1/Nawawi2004_APISlidingModeTrackingController.pdf; http://eprints.utm.my/id/eprint/1918/

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...