Title :
Higher Order Sliding Mode Controller for Robotic Manipulator
Author_Institution :
Motilal Nehru Nat. Inst. of Technol., Allahabad
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;
Conference_Titel :
Intelligent Control, 2007. ISIC 2007. IEEE 22nd International Symposium on
Conference_Location :
Singapore
Print_ISBN :
978-1-4244-0440-7
Electronic_ISBN :
2158-9860
DOI :
10.1109/ISIC.2007.4450946
