DocumentCode
1670939
Title
Sliding mode controller with circular sliding surface for 2-link robot manipulator
Author
Jo, Young-Hun ; Lee, Yong-Hwa ; Park, Kang-Bak
Author_Institution
Dept. of Control & Instrum. Eng., Korea Univ., Seoul, South Korea
fYear
2010
Firstpage
1519
Lastpage
1521
Abstract
Almost all of control methods proposed so far have been designed such that the overall system guarantees asymptotic stability. In many of cases, however, it is preferable to design a controller such that the error gets to zero in a finite time. In this paper, we propose a novel circular sliding surface to get a finite time convergence. To show the effectiveness of the proposed method, simulation results for 2-link robot manipulators are given.
Keywords
asymptotic stability; control system synthesis; dexterous manipulators; multidimensional systems; variable structure systems; 2-link robot manipulator; asymptotic stability; circular sliding surface; controller design; finite time control; sliding mode control; Joints; Manipulators; Service robots; Simulation; Sliding mode control; Circular Sliding Surface; Finite Time Control; Sliding Mode Control(SMC);
fLanguage
English
Publisher
ieee
Conference_Titel
Control Automation and Systems (ICCAS), 2010 International Conference on
Conference_Location
Gyeonggi-do
Print_ISBN
978-1-4244-7453-0
Electronic_ISBN
978-89-93215-02-1
Type
conf
Filename
5669703
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