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Please use this identifier to cite or link to this item: http://eprint.iitd.ac.in/handle/2074/1790

Title: A model-based sliding mode controller for robot manipulators
Authors: Hanmandlu, M
Pandian, S R
Keywords: robot trajectory
actuator dynamics
sliding mode control
online feedforward control
Issue Date: 1993
Citation: Decision and Control, 3, 2155 - 2156p.
Abstract: A generalized model-based sliding mode controller for robot trajectory tracking is proposed, which incorporates the full-order, nonlinear, uncertain actuator dynamics in control law design. The problem of chattering is alleviated by replacing the discontinuous sliding mode control in the vicinity of the sliding mode by a high gain, continuous controller, resulting in dual mode control. Independent joint control, offline feedforward control and online feedforward control laws are derived. Simulation results are presented for the first three links of the PUMA 560 arm to illustrate their effectiveness
URI: http://eprint.iitd.ac.in/dspace/handle/2074/1790
Appears in Collections:Electrical Engineering

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