A PI Sliding Mode Tracking Controller with Application to a 3 DOF Direct-Drive Robot Manipulator
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 w...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
2004-11-21.
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| Subjects: | |
| Online Access: | Get fulltext |