A Decentralized Proportional-Integral Sliding Mode Tracking Controller for Robot Manipulator
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 availa...
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| Main Author: | |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2002
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| Subjects: | |
| Online Access: | http://eprints.utem.edu.my/id/eprint/9066/2/P20.pdf http://eprints.utem.edu.my/id/eprint/9066/ |
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| Institution: | Universiti Teknikal Malaysia Melaka |
| Language: | English |