Title :
A PI sliding mode tracking controller with application to a 3 DOF direct-drive robot manipulator
Author :
Nawawi, S.W. ; Osman, J.H.S. ; Ahmad, M.N.
Author_Institution :
Fac. of Electr. Eng., Univ. Teknologi Malaysia, Skudai, Malaysia
Abstract :
This paper deals with the tracking control of direct-drive (DD) robot manipulators. A robust proportional-integral (PI) sliding mode control law is derived for accurate tracking despite the highly nonlinear and coupled dynamics. It is shown mathematically that the proposed controller is capable of withstanding the expected variations and uncertainties present in the system. The performance of the proposed control law is evaluated by means of computer simulation studies on a 3 DOF revolute DD robot manipulator actuated with BLDCM motors.
Keywords :
PI control; brushless DC motors; digital simulation; electric machine analysis computing; machine control; manipulators; nonlinear dynamical systems; uncertain systems; variable structure systems; BLDCM; DOF direct-drive robot manipulator; PI sliding mode tracking controller; brush-less DC motors; computer simulation; coupled dynamics; nonlinear dynamics; tracking control; uncertainty system; Couplings; DC motors; Manipulator dynamics; Nonlinear dynamical systems; Reluctance motors; Robots; Sliding mode control; Transforms; Turing machines; Uncertainty;
Conference_Titel :
TENCON 2004. 2004 IEEE Region 10 Conference
Print_ISBN :
0-7803-8560-8
DOI :
10.1109/TENCON.2004.1414968
