DocumentCode
3330927
Title
A model-reaching control design for trajectory tracking
Author
Chan, S.P. ; Yao, B.
Author_Institution
Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore
fYear
1991
fDate
28 Oct-1 Nov 1991
Firstpage
1235
Abstract
Based on the variable structure model reaching control technique, a dynamic sliding mode strategy is developed for the trajectory tracking problem of a robot manipulator in the presence of parametric uncertainties and external disturbances. By suitable choice of design parameters, the control torque is given in a simple form which is easy to implement. The proposed algorithm was implemented to control two revolute joints of a robot. Results demonstrate accurate tracking capability and robust performance
Keywords
position control; robots; variable structure systems; dynamic sliding mode strategy; external disturbances; parametric uncertainties; position control; robot manipulator; trajectory tracking; variable structure model reaching control; Control design; Electric variables control; Manipulator dynamics; Motion control; Robot control; Robustness; Sliding mode control; Symmetric matrices; Trajectory; Uncertainty;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Electronics, Control and Instrumentation, 1991. Proceedings. IECON '91., 1991 International Conference on
Conference_Location
Kobe
Print_ISBN
0-87942-688-8
Type
conf
DOI
10.1109/IECON.1991.239265
Filename
239265
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