DocumentCode
2806579
Title
Design of Sliding Mode Controller for Two-Link Robot Manipulator
Author
Chorng-Tyan Lin ; Kuan-Chih Liu ; Chien-Wen Chung ; Yaote Chang
Author_Institution
Energy & Agile Syst. Dept., Metal Ind. R&D Centre, Kaohsiung, Taiwan
fYear
2011
fDate
21-23 Nov. 2011
Firstpage
90
Lastpage
93
Abstract
A design of the sliding surfaces for the position tracking control problem for two-link robot manipulator based on the Lyapunov stability theorem, the back stepping control (BC) and the sliding mode control (SMC) is addressed. By applying the adaptive technique in the design of the sliding surface, the property of asymptotical stability can be achieved and the perturbations can be suppressed when the system is in the sliding mode. The robust tracking performance will be demonstrated in the simulation.
Keywords
Lyapunov methods; control system synthesis; manipulators; position control; variable structure systems; Lyapunov stability; back stepping control; design; position tracking control; sliding mode controller; two-link robot manipulator; Asymptotic stability; Manipulators; Robustness; Stability analysis; Trajectory; Lyapunov stability; sliding mode control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robot, Vision and Signal Processing (RVSP), 2011 First International Conference on
Conference_Location
Kaohsiung
Print_ISBN
978-1-4577-1881-6
Type
conf
DOI
10.1109/RVSP.2011.60
Filename
6114912
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