A PI sliding mode tracking controller with application to a 3 DOF direct-drive robot manipulator

Author

Nawawi, S.W. ; Osman, J.H.S. ; Ahmad, M.N.

Author_Institution

Fac. of Electr. Eng., Univ. Teknologi Malaysia, Skudai, Malaysia

Volume

D

fYear

2004

fDate

21-24 Nov. 2004

Firstpage

455

Abstract

This paper deals with the tracking control of direct-drive (DD) robot manipulators. A robust proportional-integral (PI) sliding mode control law is derived for accurate tracking despite the highly nonlinear and coupled dynamics. It is shown mathematically that the proposed controller is capable of withstanding the expected variations and uncertainties present in the system. The performance of the proposed control law is evaluated by means of computer simulation studies on a 3 DOF revolute DD robot manipulator actuated with BLDCM motors.

Keywords

PI control; brushless DC motors; digital simulation; electric machine analysis computing; machine control; manipulators; nonlinear dynamical systems; uncertain systems; variable structure systems; BLDCM; DOF direct-drive robot manipulator; PI sliding mode tracking controller; brush-less DC motors; computer simulation; coupled dynamics; nonlinear dynamics; tracking control; uncertainty system; Couplings; DC motors; Manipulator dynamics; Nonlinear dynamical systems; Reluctance motors; Robots; Sliding mode control; Transforms; Turing machines; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

TENCON 2004. 2004 IEEE Region 10 Conference

Print_ISBN

0-7803-8560-8

Type

conf

DOI

10.1109/TENCON.2004.1414968

Filename

1414968