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A Comparison of Sliding Mode and Integral Sliding Mode Controls for Robot Manipulators  

Yoo, Dong-Sang (한경대학교 전기공학과, 전자기술종합연구소)
Publication Information
The Transactions of The Korean Institute of Electrical Engineers / v.58, no.1, 2009 , pp. 168-172 More about this Journal
Abstract
We compare an integral sliding mode control with a typical sliding mode control for robot manipulators through two primitive tasks: set-point regulation and trajectory tracking control. To prove the asymptotic stability of two methods for robot manipulators, we introduce three important properties in the robot dynamics: skew-symmetry, positive-definiteness, and boundedness of robot parameter matrices and we present one unified control structure using a parametric velocity vector. From illustrative examples, we show that two methods effectively control for robot manipulators.
Keywords
Integral Sliding Mode; Robot Control; Nonlinear Control;
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Times Cited By SCOPUS : 1
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