A decentralized proportional-integral sliding mode tracking controller for robot manipulators
This paper presents a decentralized Proportional-Integral (PI) sliding mode tracking control for a class of robot manipulators. A robust decentralized sliding mode controller is derived so that in each of the sub-system, the actual trajectory tracks the desired trajectory using the information avail...
| Main Authors: | , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2002
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| Subjects: | |
| Online Access: | http://eprints.utm.my/7437/ http://eprints.utm.my/7437/1/Johari_Halim_Shah_2002_Decentralized_Proportional-Integral_Sliding_Mode_Tracking.pdf |
| _version_ | 1848891469314654208 |
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| author | Ahmad, Mohamad Noh Osman, Johari Halim Shah A. Ghani, Mohd. Ruddin |
| author_facet | Ahmad, Mohamad Noh Osman, Johari Halim Shah A. Ghani, Mohd. Ruddin |
| author_sort | Ahmad, Mohamad Noh |
| building | UTeM Institutional Repository |
| collection | Online Access |
| description | This paper presents a decentralized Proportional-Integral (PI) sliding mode tracking control for a class of robot manipulators. A robust decentralized sliding mode controller is derived so that in each of the sub-system, the actual trajectory tracks the desired trajectory using the information available only on the local states. The PI sliding mode is chosen to ensure the stability of overall dynamics during the entire period i.e. the reaching phase and the sliding phase. It is shown theoretically and by simulation that manipulator systems controlled by the proposed decentralized control law are practically stable. |
| first_indexed | 2025-11-15T20:58:28Z |
| format | Conference or Workshop Item |
| id | utm-7437 |
| institution | Universiti Teknologi Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T20:58:28Z |
| publishDate | 2002 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | utm-74372017-08-27T06:22:43Z http://eprints.utm.my/7437/ A decentralized proportional-integral sliding mode tracking controller for robot manipulators Ahmad, Mohamad Noh Osman, Johari Halim Shah A. Ghani, Mohd. Ruddin TK Electrical engineering. Electronics Nuclear engineering This paper presents a decentralized Proportional-Integral (PI) sliding mode tracking control for a class of robot manipulators. A robust decentralized sliding mode controller is derived so that in each of the sub-system, the actual trajectory tracks the desired trajectory using the information available only on the local states. The PI sliding mode is chosen to ensure the stability of overall dynamics during the entire period i.e. the reaching phase and the sliding phase. It is shown theoretically and by simulation that manipulator systems controlled by the proposed decentralized control law are practically stable. 2002-10 Conference or Workshop Item PeerReviewed application/pdf en http://eprints.utm.my/7437/1/Johari_Halim_Shah_2002_Decentralized_Proportional-Integral_Sliding_Mode_Tracking.pdf Ahmad, Mohamad Noh and Osman, Johari Halim Shah and A. Ghani, Mohd. Ruddin (2002) A decentralized proportional-integral sliding mode tracking controller for robot manipulators. In: TENCON '02. Proceedings. 2002 IEEE Region 10 Conference on Computers, Communications, Control and Power Engineering, 28-31 Oct 2002, Beijing. http://dx.doi.org/10.1109/TENCON.2002.1182568 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Ahmad, Mohamad Noh Osman, Johari Halim Shah A. Ghani, Mohd. Ruddin A decentralized proportional-integral sliding mode tracking controller for robot manipulators |
| title | A decentralized proportional-integral sliding mode tracking controller for robot manipulators |
| title_full | A decentralized proportional-integral sliding mode tracking controller for robot manipulators |
| title_fullStr | A decentralized proportional-integral sliding mode tracking controller for robot manipulators |
| title_full_unstemmed | A decentralized proportional-integral sliding mode tracking controller for robot manipulators |
| title_short | A decentralized proportional-integral sliding mode tracking controller for robot manipulators |
| title_sort | decentralized proportional-integral sliding mode tracking controller for robot manipulators |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://eprints.utm.my/7437/ http://eprints.utm.my/7437/ http://eprints.utm.my/7437/1/Johari_Halim_Shah_2002_Decentralized_Proportional-Integral_Sliding_Mode_Tracking.pdf |