DocumentCode
2414765
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
fYear
1984
fDate
18-21 June 1984
Firstpage
181
Lastpage
189
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Power Electronics Specialists Conference, 1984 IEEE
Conference_Location
Gaithersburg, MD, USA
ISSN
0275-9306
Type
conf
DOI
10.1109/PESC.1984.7083478
Filename
7083478
Link To Document