Application of proportional-integral sliding mode tracking controller to robot manipulators

• 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/2000/1/article179.pdf; http://eprints.utm.my/id/eprint/2000/

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...