Title :
A decentralized proportional-integral sliding mode tracking controller for robot manipulators
Author :
Ahmad, Mohamad Noh ; Osman, Johari H S ; Ghani, Mohd Ruddin A
Author_Institution :
Dept. of Robotics & Mechatronics, Universiti Teknologi Malaysia, Skudai, Malaysia
Abstract :
This paper presents a decentralized proportional-integral (PI) sliding mode tracking control for a class of robot manipulators. A robust decentralized sliding mode controller is derived so that in each of the sub-system, the actual trajectory tracks the desired trajectory using the information available only on the local states. The PI sliding mode is chosen to ensure the stability of overall dynamics during the entire period i.e. the reaching phase and the sliding phase. It is shown theoretically and by simulation that manipulator systems controlled by the proposed decentralized control law are practically stable.
Keywords :
decentralised control; manipulators; robust control; tracking; two-term control; variable structure systems; PI controller; decentralized proportional-integral sliding mode tracking controller; robot manipulators; robust decentralized sliding mode controller; stability; Control system synthesis; Distributed control; Manipulator dynamics; Pi control; Proportional control; Robot control; Robust control; Sliding mode control; Stability; Trajectory;
Conference_Titel :
TENCON '02. Proceedings. 2002 IEEE Region 10 Conference on Computers, Communications, Control and Power Engineering
Print_ISBN :
0-7803-7490-8
DOI :
10.1109/TENCON.2002.1182568
