A full order sliding mode tracking controller for direct drive robot manipulators

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A full order sliding mode tracking controller for direct drive robot manipulators

This paper presents the development of a full order sliding mode controller for tracking problem of direct drive robot manipulators. By treating the arm as an uncertain system represented by its nominal and bounded parametric uncertainties, a new robust full-order sliding mode tracking controller is...

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Bibliographic Details
Main Authors:	Ahmad, Mohamad Noh, Osman, Johari Halim Shah
Format:	Book Section
Published:	IEEE 2004
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://eprints.utm.my/7443/

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