A Full Order Sliding Mode Tracking Controller For A Class of Uncertain Dynamical System

  • Ahmad, M.N. (Dept. of Robotics and Mechatronics, Faculty of Electrical Engineering, Universiti Teknologi Malaysia) ;
  • Nawawi, S.W. (Dept. of Robotics and Mechatronics, Faculty of Electrical Engineering, Universiti Teknologi Malaysia) ;
  • Osman, J.H.S (Dept. of Robotics and Mechatronics, Faculty of Electrical Engineering, Universiti Teknologi Malaysia)
  • Published : 2004.08.25

Abstract

This paper presents the development of a full order sliding mode controller for tracking problem of a class of uncertain dynamical system, in particular, the direct drive robot manipulators. By treating the arm as an uncertain system represented by its nominal and bounded parametric uncertainties, a new robust fullorder sliding mode tracking controller is derived such that the actual trajectory tracks the desired trajectory as closely as possible despite the non-linearities and input couplings present in the system. A proportional-integral sliding surface is chosen to ensure the stability of overall dynamics during the entire period i.e. the reaching phase and the sliding phase. Application to a three DOF direct drive robot manipulator is considered.

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