Robust sliding mode control for robot manipulator tracking problem using a proportional-integral switching surface

• Main Authors: Ahmad, M. N., Osman, Johari H. S.
• Format: Article
• Language: English
• Published: 2003
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://eprints.utm.my/id/eprint/1948/1/MohamadNohAhmad2003_RobustSlidingModeControlForRobot.pdf; http://eprints.utm.my/id/eprint/1948/

This paper presents the development of a proportional-integral sliding mode controller for tracking problem of robot manipulators. A robust sliding mode controller is derived so that the actual trajectory tracks the desired trajectory as closely as possible despite the highly non-linear and coupled dynamics. The proportional-integral sliding mode is chosen to ensure the stability of the overall dynamics during the entire period i.e. the reaching phase and the sliding phase. Application to a two-link planar robot manipulator is presented.