A decentralized proportional-integral sliding mode tracking controller for a 2 D.O.F robot arm

• Main Authors: Kader Ibrahim, Babul Salam, Bakar, Saleha, Ahmad, Mohd. Noh, Osman, Johari H. S.
• Format: Conference or Workshop Item
• Language: English
• Published: 2005
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://eprints.utm.my/id/eprint/1844/1/babulsalam05_decentralized_propotional_integral.pdf; http://eprints.utm.my/id/eprint/1844/
• Institution: Universiti Teknologi Malaysia

Trajectory tracking with high accuracy is a very challenging topic in direct drive robot control. This is due to the nonlinearities and input couplings present in the dynamics of the arm. This paper deals with the tracking control of a class of direct-drive robot manipulators. A robust Proportional-...