Title :
Arbitrary trajectory tracking characteristics of sliding mode controlled servo system
Author :
Harashima, Fumio ; Hashimoto, Hideki ; Xu, Jian-Xin
Author_Institution :
Institute of Industrial Science, University of Tokyo, Tokyo, Japan
Abstract :
The strict tracking of a desired path which is generated by supervisory computer must be required in the prospective control of improved robots. For this purpose, sliding mode control is furnished with the ability to track arbitrary trajectories. Digital simulation results of a two link manipulator clarify the robust performance of sliding mode control compared with linear state feedback control.
Keywords :
Manipulator dynamics; Sliding mode control; State feedback; Switches; Tracking; Trajectory;
Conference_Titel :
Power Electronics Specialists Conference, 1984 IEEE
Conference_Location :
Gaithersburg, MD, USA
DOI :
10.1109/PESC.1984.7083478
