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/7437/1/Johari_Halim_Shah_2002_Decentralized_Proportional-Integral_Sliding_Mode_Tracking.pdf |