A sliding mode control approach to robotic tracking problem

Chieh Li Chen, Chih Jer Lin

研究成果: Conference article

4 引文 斯高帕斯(Scopus)

摘要

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.

原文English
頁(從 - 到)55-59
頁數5
期刊IFAC Proceedings Volumes (IFAC-PapersOnline)
15
發行號1
出版狀態Published - 2002 一月 1
事件15th World Congress of the International Federation of Automatic Control, 2002 - Barcelona, Spain
持續時間: 2002 七月 212002 七月 26

    指紋

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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