Design of PC-based sliding mode controller and normalized sliding surface slope using PSO method for robot manipulator.

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Design of PC-based sliding mode controller and normalized sliding surface slope using PSO method for robot manipulator.

One of the best nonlinear robust controllers which can be used in uncertainty nonlinear systems (e.g., robot manipulator) is sliding mode controller (SMC). Sliding mode controller has two most important challenges in uncertain systems: chattering phenomenon and nonlinear dynamic equivalent part. Thi...

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Bibliographic Details
Main Authors:	Sulaiman, Nasri, Piltan, Farzin, Jalali, Amin
Format:	Article
Published:	2011
Online Access:	http://psasir.upm.edu.my/id/eprint/23278/

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