A decentralized proportional-integral sliding mode tracking controller for robot manipulators

A decentralized proportional-integral sliding mode tracking controller for robot manipulators

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 avail...

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Bibliographic Details
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/7437/1/Johari_Halim_Shah_2002_Decentralized_Proportional-Integral_Sliding_Mode_Tracking.pdf
http://eprints.utm.my/id/eprint/7437/
http://dx.doi.org/10.1109/TENCON.2002.1182568
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Institution: Universiti Teknologi Malaysia
Language: English

Internet

http://eprints.utm.my/id/eprint/7437/1/Johari_Halim_Shah_2002_Decentralized_Proportional-Integral_Sliding_Mode_Tracking.pdf
http://eprints.utm.my/id/eprint/7437/
http://dx.doi.org/10.1109/TENCON.2002.1182568

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