Application of proportional-integral sliding mode tracking controller to robot manipulators
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...
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| Main Authors: | , |
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| Format: | Article |
| Language: | en |
| Published: |
2003
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| Online Access: | http://eprints.utm.my/2000/1/article179.pdf http://eprints.utm.my/2000/ |
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| _version_ | 1845470591810797568 |
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| author | Ahmad, M. N. Osman, Johari H. S. |
| author_facet | Ahmad, M. N. Osman, Johari H. S. |
| author_sort | Ahmad, M. N. |
| building | UTM Library |
| collection | Institutional Repository |
| content_provider | Universiti Teknologi Malaysia |
| content_source | UTM Institutional Repository |
| continent | Asia |
| country | Malaysia |
| description | 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 proposed controller is designed using the centralized and decentralized approaches. The Proportional-Integral sliding mode is chosen to ensure the stability of overall dynamics during the entire period i.e. the reaching phase and the sliding phase. Application to a two-link planar robot manipulator is considered. |
| format | Article |
| id | my.utm.eprints-2000 |
| institution | Universiti Teknologi Malaysia |
| language | en |
| publishDate | 2003 |
| record_format | eprints |
| spelling | my.utm.eprints-20002010-06-01T03:00:12Z http://eprints.utm.my/2000/ Application of proportional-integral sliding mode tracking controller to robot manipulators Ahmad, M. N. Osman, Johari H. S. TK Electrical engineering. Electronics Nuclear engineering 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 proposed controller is designed using the centralized and decentralized approaches. The Proportional-Integral sliding mode is chosen to ensure the stability of overall dynamics during the entire period i.e. the reaching phase and the sliding phase. Application to a two-link planar robot manipulator is considered. 2003 Article PeerReviewed application/pdf en http://eprints.utm.my/2000/1/article179.pdf Ahmad, M. N. and Osman, Johari H. S. (2003) Application of proportional-integral sliding mode tracking controller to robot manipulators. Control Applications, 2003. CCA 2003. Proceedings of 2003 IEEE Conference on . pp. 87-92. |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Ahmad, M. N. Osman, Johari H. S. Application of proportional-integral sliding mode tracking controller to robot manipulators |
| title | Application of proportional-integral sliding mode tracking controller to robot manipulators |
| title_full | Application of proportional-integral sliding mode tracking controller to robot manipulators |
| title_fullStr | Application of proportional-integral sliding mode tracking controller to robot manipulators |
| title_full_unstemmed | Application of proportional-integral sliding mode tracking controller to robot manipulators |
| title_short | Application of proportional-integral sliding mode tracking controller to robot manipulators |
| title_sort | application of proportional-integral sliding mode tracking controller to robot manipulators |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://eprints.utm.my/2000/1/article179.pdf http://eprints.utm.my/2000/ |
| url_provider | http://eprints.utm.my/ |