DocumentCode
2990154
Title
Higher Order Sliding Mode Controller for Robotic Manipulator
Author
Purwar, Shubhi
Author_Institution
Motilal Nehru Nat. Inst. of Technol., Allahabad
fYear
2007
fDate
1-3 Oct. 2007
Firstpage
556
Lastpage
561
Abstract
This paper proposes higher order sliding mode controller for robotic manipulator. The scheme is used to compensate for the influence of unmodeled dynamics and to reduce chattering. Simulation results show that the proposed controller gives better performance compared to fuzzy sliding mode control in the face of uncertain system parameters and external disturbances.
Keywords
manipulators; variable structure systems; fuzzy sliding mode control; robotic manipulator; sliding mode controller; uncertain system; unmodeled dynamics; Acceleration; Control systems; Fuzzy control; Fuzzy logic; Fuzzy systems; Intelligent robots; Manipulator dynamics; Robot control; Sliding mode control; Symmetric matrices;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control, 2007. ISIC 2007. IEEE 22nd International Symposium on
Conference_Location
Singapore
ISSN
2158-9860
Print_ISBN
978-1-4244-0440-7
Electronic_ISBN
2158-9860
Type
conf
DOI
10.1109/ISIC.2007.4450946
Filename
4450946
Link To Document