A decentralized proportional-integral sliding mode tracking controller for robot manipulators

• Main Authors: Ahmad, Mohamad Noh, Osman, Johari Halim Shah, A. Ghani, Mohd. Ruddin
• Format: Conference or Workshop Item
• Language: English
• Published: 2002
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://eprints.utm.my/id/eprint/7437/1/Johari_Halim_Shah_2002_Decentralized_Proportional-Integral_Sliding_Mode_Tracking.pdf; http://eprints.utm.my/id/eprint/7437/; http://dx.doi.org/10.1109/TENCON.2002.1182568

This paper presents a decentralized Proportional-Integral (PI) sliding mode tracking control for a class of robot manipulators. A robust decentralized sliding mode controller is derived so that in each of the sub-system, the actual trajectory tracks the desired trajectory using the information avail...