Review of sliding mode control of robotic manipulator
Control of robotic systems is vital due to wide range of their applications because this system is multi-input multi-output, nonlinear and uncertainty. Consequently, it is difficult to design accurately mathematical models for multiple degrees of freedoms robot manipulator. Therefore, strong mathema...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
IDOSI Publications
2012
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| Online Access: | http://psasir.upm.edu.my/id/eprint/44210/1/Review%20of%20sliding%20mode%20control%20of%20robotic%20manipulator.pdf |
| _version_ | 1825929505603059712 |
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| author | Piltan, Farzin Sulaiman, Nasri |
| author_facet | Piltan, Farzin Sulaiman, Nasri |
| author_sort | Piltan, Farzin |
| collection | UPM |
| description | Control of robotic systems is vital due to wide range of their applications because this system is multi-input multi-output, nonlinear and uncertainty. Consequently, it is difficult to design accurately mathematical models for multiple degrees of freedoms robot manipulator. Therefore, strong mathematical tools used in new control methodologies to design a controller with acceptable performance. As it is obvious stability is the minimum requirement in any control system, however the proof of stability is not trivial especially in the case of nonlinear systems. One of the best nonlinear robust to control of robot manipulator is sliding mode controller. A review of sliding mode controller for robot manipulator will be investigated in this paper. |
| first_indexed | 2024-03-06T08:57:44Z |
| format | Article |
| id | upm.eprints-44210 |
| institution | Universiti Putra Malaysia |
| language | English |
| last_indexed | 2024-03-06T08:57:44Z |
| publishDate | 2012 |
| publisher | IDOSI Publications |
| record_format | dspace |
| spelling | upm.eprints-442102020-07-09T07:20:37Z http://psasir.upm.edu.my/id/eprint/44210/ Review of sliding mode control of robotic manipulator Piltan, Farzin Sulaiman, Nasri Control of robotic systems is vital due to wide range of their applications because this system is multi-input multi-output, nonlinear and uncertainty. Consequently, it is difficult to design accurately mathematical models for multiple degrees of freedoms robot manipulator. Therefore, strong mathematical tools used in new control methodologies to design a controller with acceptable performance. As it is obvious stability is the minimum requirement in any control system, however the proof of stability is not trivial especially in the case of nonlinear systems. One of the best nonlinear robust to control of robot manipulator is sliding mode controller. A review of sliding mode controller for robot manipulator will be investigated in this paper. IDOSI Publications 2012 Article PeerReviewed text en http://psasir.upm.edu.my/id/eprint/44210/1/Review%20of%20sliding%20mode%20control%20of%20robotic%20manipulator.pdf Piltan, Farzin and Sulaiman, Nasri (2012) Review of sliding mode control of robotic manipulator. World Applied Sciences Journal, 18 (12). pp. 1855-1869. ISSN 1818-4952; ESSN: 1991-6426 https://www.idosi.org/wasj/wasj18(12)2012.htm 10.5829/idosi.wasj.2012.18.12.208 |
| spellingShingle | Piltan, Farzin Sulaiman, Nasri Review of sliding mode control of robotic manipulator |
| title | Review of sliding mode control of robotic manipulator |
| title_full | Review of sliding mode control of robotic manipulator |
| title_fullStr | Review of sliding mode control of robotic manipulator |
| title_full_unstemmed | Review of sliding mode control of robotic manipulator |
| title_short | Review of sliding mode control of robotic manipulator |
| title_sort | review of sliding mode control of robotic manipulator |
| url | http://psasir.upm.edu.my/id/eprint/44210/1/Review%20of%20sliding%20mode%20control%20of%20robotic%20manipulator.pdf |
| work_keys_str_mv | AT piltanfarzin reviewofslidingmodecontrolofroboticmanipulator AT sulaimannasri reviewofslidingmodecontrolofroboticmanipulator |