학술논문
Proportional-Integral sliding mode tracking controller with application to a robot manipulator
Document Type
Conference
Author
Source
7th International Conference on Control, Automation, Robotics and Vision, 2002. ICARCV 2002. Control, automation, robotics and vision Control, Automation, Robotics and Vision, 2002. ICARCV 2002. 7th International Conference on. 2:863-868 vol.2 2002
Subject
Language
Abstract
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.