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

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dc.contributor.authorHanmandlu, M-
dc.contributor.authorPandian, S R-
dc.date.accessioned2006-06-27T09:22:05Z-
dc.date.available2006-06-27T09:22:05Z-
dc.date.issued1993-
dc.identifier.citationDecision and Control, 3, 2155 - 2156p.en
dc.identifier.urihttp://eprint.iitd.ac.in/dspace/handle/2074/1790-
dc.description.abstractA 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 effectivenessen
dc.format.extent30983 bytes-
dc.format.mimetypeapplication/pdf-
dc.language.isoenen
dc.subjectrobot trajectoryen
dc.subjectactuator dynamicsen
dc.subjectsliding mode controlen
dc.subjectonline feedforward controlen
dc.titleA model-based sliding mode controller for robot manipulatorsen
dc.typeArticleen
Appears in Collections:Electrical Engineering

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