A sliding mode control approach to robotic tracking problem

Chieh Li Chen, Chih Jer Lin

Research output: Contribution to journalConference articlepeer-review

4 Citations (Scopus)

Abstract

In the conventional sliding mode control, a discontinuous switching control signal is applied. It makes the system invariant to parametric uncertainty and external disturbance, but also causes actuator chattering. This paper considers a tracking control of robot manipulators using a dynamic sliding mode control, where a global invariance is achieved and the resulting control signal is chattering free. The resulting performances are illustrated by its application to the tracking problem of robot manipulators.

Original languageEnglish
Pages (from-to)55-59
Number of pages5
JournalIFAC Proceedings Volumes (IFAC-PapersOnline)
Volume15
Issue number1
Publication statusPublished - 2002 Jan 1
Event15th World Congress of the International Federation of Automatic Control, 2002 - Barcelona, Spain
Duration: 2002 Jul 212002 Jul 26

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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