A PI Sliding Mode Tracking Controller with Application to a 3 DOF Direct-Drive Robot Manipulator
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 w...
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| Pengarang-pengarang Utama: | , , |
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| Format: | Artikel |
| Bahasa: | English |
| Diterbitkan: |
2004
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| Subjek-subjek: | |
| Capaian Atas Talian: | http://eprints.utm.my/1918/ http://eprints.utm.my/1918/1/Nawawi2004_APISlidingModeTrackingController.pdf |
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