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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| Format: | Book Section |
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IEEE
2004
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| _version_ | 1796854220258803712 |
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| author | Ahmad, Mohamad Noh Osman, Johari Halim Shah |
| author_facet | Ahmad, Mohamad Noh Osman, Johari Halim Shah |
| author_sort | Ahmad, Mohamad Noh |
| collection | ePrints |
| description | 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 derived such that the actual trajectory tracks the desired trajectory as closely as possible despite the non-linearities and input couplings present in the system. A proportional-integral sliding surface is chosen to ensure the stability of overall dynamics during the entire period i.e. the reaching phase and the sliding phase. Application to a three DOF direct drive robot manipulator is considered. |
| first_indexed | 2024-03-05T18:11:09Z |
| format | Book Section |
| id | utm.eprints-7443 |
| institution | Universiti Teknologi Malaysia - ePrints |
| last_indexed | 2024-03-05T18:11:09Z |
| publishDate | 2004 |
| publisher | IEEE |
| record_format | dspace |
| spelling | utm.eprints-74432017-07-25T06:27:57Z http://eprints.utm.my/7443/ A full order sliding mode tracking controller for direct drive robot manipulators Ahmad, Mohamad Noh Osman, Johari Halim Shah TK Electrical engineering. Electronics Nuclear engineering 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 derived such that the actual trajectory tracks the desired trajectory as closely as possible despite the non-linearities and input couplings present in the system. A proportional-integral sliding surface is chosen to ensure the stability of overall dynamics during the entire period i.e. the reaching phase and the sliding phase. Application to a three DOF direct drive robot manipulator is considered. IEEE 2004-07-20 Book Section PeerReviewed Ahmad, Mohamad Noh and Osman, Johari Halim Shah (2004) A full order sliding mode tracking controller for direct drive robot manipulators. In: 2004 5th Asian Control Conference. IEEE, USA, pp. 592-597. ISBN 0780388739 http://ieeexplore.ieee.org/document/1426014/ 10.1109/ASCC.2004.184823 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Ahmad, Mohamad Noh Osman, Johari Halim Shah A full order sliding mode tracking controller for direct drive robot manipulators |
| title | A full order sliding mode tracking controller for direct drive robot manipulators |
| title_full | A full order sliding mode tracking controller for direct drive robot manipulators |
| title_fullStr | A full order sliding mode tracking controller for direct drive robot manipulators |
| title_full_unstemmed | A full order sliding mode tracking controller for direct drive robot manipulators |
| title_short | A full order sliding mode tracking controller for direct drive robot manipulators |
| title_sort | full order sliding mode tracking controller for direct drive robot manipulators |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| work_keys_str_mv | AT ahmadmohamadnoh afullorderslidingmodetrackingcontrollerfordirectdriverobotmanipulators AT osmanjoharihalimshah afullorderslidingmodetrackingcontrollerfordirectdriverobotmanipulators AT ahmadmohamadnoh fullorderslidingmodetrackingcontrollerfordirectdriverobotmanipulators AT osmanjoharihalimshah fullorderslidingmodetrackingcontrollerfordirectdriverobotmanipulators |