Control of robotic manipulator with integral sliding mode
Joint Authors
Bin Ramadan, Nailah Mezghani
Damak, Tariq
Source
Journal of Automation and Systems Engineering
Issue
Vol. 5, Issue 4 (31 Dec. 2011), pp.185-198, 14 p.
Publisher
Publication Date
2011-12-31
Country of Publication
Algeria
No. of Pages
14
Main Subjects
Topics
Abstract EN
A new integral sliding mode control law for robotic manipulators with parameter uncertainty and external bounded disturbance is proposed.
The optimal control is used to determine the control of the nominal part of the robot.
To compensate the uncertainties and disturbances and to eliminate the chattering a continuous control deduced from integral sliding mode is added to the optimal control.
With the integral sliding mode control the reaching phase is eliminated.
As the result, robustness of the system can be guaranteed from the beginning of the control process.
The proposed integral sliding mode control is applied to a 3 degree-of-freedom robot to prove its effectiveness.
American Psychological Association (APA)
Bin Ramadan, Nailah Mezghani& Damak, Tariq. 2011. Control of robotic manipulator with integral sliding mode. Journal of Automation and Systems Engineering،Vol. 5, no. 4, pp.185-198.
https://search.emarefa.net/detail/BIM-291065
Modern Language Association (MLA)
Bin Ramadan, Nailah Mezghani& Damak, Tariq. Control of robotic manipulator with integral sliding mode. Journal of Automation and Systems Engineering Vol. 5, no. 4 (Dec. 2011), pp.185-198.
https://search.emarefa.net/detail/BIM-291065
American Medical Association (AMA)
Bin Ramadan, Nailah Mezghani& Damak, Tariq. Control of robotic manipulator with integral sliding mode. Journal of Automation and Systems Engineering. 2011. Vol. 5, no. 4, pp.185-198.
https://search.emarefa.net/detail/BIM-291065
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 197-198
Record ID
BIM-291065