DocumentCode
489574
Title
A General Sliding Mode Controller for Robot Manipulators
Author
Su, Chun-Yi ; Leung, T.P.
Author_Institution
Department of Automation, South China University of Technology, Guangzhou 510641, P.R. China
fYear
1992
fDate
24-26 June 1992
Firstpage
1287
Lastpage
1290
Abstract
A general sliding mode controller is presented for trajectory tracking of nonlinear robot manipulator systems which guarantees occurrence of sliding mode on a specified general sliding surface. The controller is, in a simple manner, related to the manipulator and load parameters, which greatly reduces the complexity of design. In the sliding mode, desired performance can be obtained by selecting a suitable sliding surface. The algorithm can also be applied to Cartesian space.
Keywords
Automatic control; Control systems; Equations; Force control; Manipulator dynamics; Marine technology; Nonlinear control systems; Robot control; Robotics and automation; Sliding mode control;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1992
Conference_Location
Chicago, IL, USA
Print_ISBN
0-7803-0210-9
Type
conf
Filename
4792306
Link To Document