A PI Sliding Mode Tracking Controller with Application to a 3 DOF Direct-Drive Robot Manipulator

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A PI Sliding Mode Tracking Controller with Application to a 3 DOF Direct-Drive Robot Manipulator

This paper deals with the tracking control of direct-drive (DD) robot manipulators. A robust proportional-integral (PI) sliding mode control law is derived for accurate tracking despite the highly nonlinear and coupled dynamics. It is shown mathematically that the proposed controller is capable of w...

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Bibliographic Details
Main Authors:	Nawawi, S.W, Osman, Johari H. S., Ahmad, M.N
Format:	Article
Language:	English
Published:	2004
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://eprints.utm.my/1918/ http://eprints.utm.my/1918/1/Nawawi2004_APISlidingModeTrackingController.pdf

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