Title :
A robust higher order sliding mode control of rigid robot manipulator
Author :
Agwan, M. ; Janardhanan, S. ; Dewan, Lilie
Author_Institution :
Department of Electrical Engineering, NIT, Kurukshetra, INDIA
Abstract :
A robotic manipulator is a highly nonlinear system with uncertainties. Sliding mode control provides a method for reliable tracking for such uncertain nonlinear systems. In this work, we present an algorithm based on higher order sliding mode concept for tracking and finite time error convergence for articulated robotic manipulators
Keywords :
Robotic Manipulator; Sliding mode control; Uncertainties; parameter variations;
Conference_Titel :
Modelling, Identification & Control (ICMIC), 2012 Proceedings of International Conference on
Conference_Location :
Wuhan, Hubei, China
Print_ISBN :
978-1-4673-1524-1
