DocumentCode
566078
Title
A robust higher order sliding mode control of rigid robot manipulator
Author
Agwan, M. ; Janardhanan, S. ; Dewan, Lilie
Author_Institution
Department of Electrical Engineering, NIT, Kurukshetra, INDIA
fYear
2012
fDate
24-26 June 2012
Firstpage
917
Lastpage
920
Abstract
A robotic manipulator is a highly nonlinear system with uncertainties. Sliding mode control provides a method for reliable tracking for such uncertain nonlinear systems. In this work, we present an algorithm based on higher order sliding mode concept for tracking and finite time error convergence for articulated robotic manipulators
Keywords
Robotic Manipulator; Sliding mode control; Uncertainties; parameter variations;
fLanguage
English
Publisher
ieee
Conference_Titel
Modelling, Identification & Control (ICMIC), 2012 Proceedings of International Conference on
Conference_Location
Wuhan, Hubei, China
Print_ISBN
978-1-4673-1524-1
Type
conf
Filename
6260260
Link To Document