Proportional-integral sliding mode tracking controller with application to a robot manipulator

• Main Authors: Ahmad, Mohamad Noh, Osman, Johari Halim Shah, A. Ghani, Mohd. Ruddin
• Format: Conference or Workshop Item
• Language: English
• Published: 2002
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://eprints.utm.my/id/eprint/7428/1/Johari_Halim_Shah_2002_Proportional-Integral_Sliding_Mode_Tracking.pdf; http://eprints.utm.my/id/eprint/7428/; http://dx.doi.org/10.1109/ICARCV.2002.1238537
• Institution: Universiti Teknologi Malaysia

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 t...