Application of proportional-integral sliding mode tracking controller to robot manipulators

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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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Bibliographic Details
Main Authors:	Ahmad, M. N., Osman, Johari H. S.
Format:	Article
Language:	English
Published:	2003
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://eprints.utm.my/2000/ http://eprints.utm.my/2000/1/article179.pdf

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