A decentralized proportional-integral sliding mode tracking controller for a 2 D.O.F robot arm

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A decentralized proportional-integral sliding mode tracking controller for a 2 D.O.F robot arm

Trajectory tracking with high accuracy is a very challenging topic in direct drive robot control. This is due to the nonlinearities and input couplings present in the dynamics of the arm. This paper deals with the tracking control of a class of direct-drive robot manipulators. A robust Proportional-...

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Bibliographic Details
Main Authors:	Kader Ibrahim, Babul Salam, Bakar, Saleha, Ahmad, Mohd. Noh, Osman, Johari H. S.
Format:	Conference or Workshop Item
Language:	English
Published:	2005
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://eprints.utm.my/1844/ http://eprints.utm.my/1844/1/babulsalam05_decentralized_propotional_integral.pdf

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