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.
|Number of pages||5|
|Journal||IFAC Proceedings Volumes (IFAC-PapersOnline)|
|Publication status||Published - 2002 Jan 1|
|Event||15th World Congress of the International Federation of Automatic Control, 2002 - Barcelona, Spain|
Duration: 2002 Jul 21 → 2002 Jul 26
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering