Proportional-integral sliding mode tracking controller with application to a robot manipulator
This paper presents the development of a Proportional-Integral sliding mode controller to control a class of uncertain systems. It is assumed that the plant to be controlled can be represented by its nominal and bounded parametric uncertainties. A robust sliding mode controller is newly derived so t...
| Main Authors: | , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
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2002
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| Online Access: | http://eprints.utm.my/7428/1/Johari_Halim_Shah_2002_Proportional-Integral_Sliding_Mode_Tracking.pdf |
| _version_ | 1825910037365653504 |
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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 |
| collection | ePrints |
| description | This paper presents the development of a Proportional-Integral sliding mode controller to control a class of uncertain systems. It is assumed that the plant to be controlled can be represented by its nominal and bounded parametric uncertainties. A robust sliding mode controller is newly derived so that the actual trajectory tracks the desired trajectory as closely as possible despite the non-linearities and input couplings present in the system. The Proportional-Integral sliding mode is chosen to ensure the stability of overall dynamics during the entire period i.e. the reaching phase and the sliding phase. The controller is applied to the control of a two-link planar robot manipulator. |
| first_indexed | 2024-03-05T18:11:06Z |
| format | Conference or Workshop Item |
| id | utm.eprints-7428 |
| institution | Universiti Teknologi Malaysia - ePrints |
| language | English |
| last_indexed | 2024-03-05T18:11:06Z |
| publishDate | 2002 |
| record_format | dspace |
| spelling | utm.eprints-74282017-08-27T06:15:27Z http://eprints.utm.my/7428/ Proportional-integral sliding mode tracking controller with application to a robot manipulator Ahmad, Mohamad Noh Osman, Johari Halim Shah A. Ghani, Mohd. Ruddin TK Electrical engineering. Electronics Nuclear engineering This paper presents the development of a Proportional-Integral sliding mode controller to control a class of uncertain systems. It is assumed that the plant to be controlled can be represented by its nominal and bounded parametric uncertainties. A robust sliding mode controller is newly derived so that the actual trajectory tracks the desired trajectory as closely as possible despite the non-linearities and input couplings present in the system. The Proportional-Integral sliding mode is chosen to ensure the stability of overall dynamics during the entire period i.e. the reaching phase and the sliding phase. The controller is applied to the control of a two-link planar robot manipulator. 2002-12 Conference or Workshop Item PeerReviewed application/pdf en http://eprints.utm.my/7428/1/Johari_Halim_Shah_2002_Proportional-Integral_Sliding_Mode_Tracking.pdf Ahmad, Mohamad Noh and Osman, Johari Halim Shah and A. Ghani, Mohd. Ruddin (2002) Proportional-integral sliding mode tracking controller with application to a robot manipulator. In: Control, Automation, Robotics and Vision, 2002. ICARCV 2002. 7th International Conference, 2-5 Dec 2002, Singapore. http://dx.doi.org/10.1109/ICARCV.2002.1238537 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Ahmad, Mohamad Noh Osman, Johari Halim Shah A. Ghani, Mohd. Ruddin Proportional-integral sliding mode tracking controller with application to a robot manipulator |
| title | Proportional-integral sliding mode tracking controller with application to a robot manipulator |
| title_full | Proportional-integral sliding mode tracking controller with application to a robot manipulator |
| title_fullStr | Proportional-integral sliding mode tracking controller with application to a robot manipulator |
| title_full_unstemmed | Proportional-integral sliding mode tracking controller with application to a robot manipulator |
| title_short | Proportional-integral sliding mode tracking controller with application to a robot manipulator |
| title_sort | proportional integral sliding mode tracking controller with application to a robot manipulator |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://eprints.utm.my/7428/1/Johari_Halim_Shah_2002_Proportional-Integral_Sliding_Mode_Tracking.pdf |
| work_keys_str_mv | AT ahmadmohamadnoh proportionalintegralslidingmodetrackingcontrollerwithapplicationtoarobotmanipulator AT osmanjoharihalimshah proportionalintegralslidingmodetrackingcontrollerwithapplicationtoarobotmanipulator AT aghanimohdruddin proportionalintegralslidingmodetrackingcontrollerwithapplicationtoarobotmanipulator |