Robust sliding mode control for robot manipulator tracking problem using a proportional-integral switching surface
This paper presents the development of a proportional-integral sliding mode controller for tracking problem of robot manipulators. A robust sliding mode controller is derived so that the actual trajectory tracks the desired trajectory as closely as possible despite the highly non-linear and coupled...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
2003-08-26.
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| Subjects: | |
| Online Access: | Get fulltext |