Title :
A General Sliding Mode Controller for Robot Manipulators
Author :
Su, Chun-Yi ; Leung, T.P.
Author_Institution :
Department of Automation, South China University of Technology, Guangzhou 510641, P.R. China
Abstract :
A general sliding mode controller is presented for trajectory tracking of nonlinear robot manipulator systems which guarantees occurrence of sliding mode on a specified general sliding surface. The controller is, in a simple manner, related to the manipulator and load parameters, which greatly reduces the complexity of design. In the sliding mode, desired performance can be obtained by selecting a suitable sliding surface. The algorithm can also be applied to Cartesian space.
Keywords :
Automatic control; Control systems; Equations; Force control; Manipulator dynamics; Marine technology; Nonlinear control systems; Robot control; Robotics and automation; Sliding mode control;
Conference_Titel :
American Control Conference, 1992
Conference_Location :
Chicago, IL, USA
Print_ISBN :
0-7803-0210-9
