A full order sliding mode tracking controller for direct drive robot manipulators
This paper presents the development of a full order sliding mode controller for tracking problem of direct drive robot manipulators. By treating the arm as an uncertain system represented by its nominal and bounded parametric uncertainties, a new robust full-order sliding mode tracking controller is...
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Main Authors: | Ahmad, Mohamad Noh, Osman, Johari Halim Shah |
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Format: | Book Section |
Published: |
IEEE
2004
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Subjects: | |
Online Access: | http://eprints.utm.my/id/eprint/7443/ http://ieeexplore.ieee.org/document/1426014/ |
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