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http://dx.doi.org/10.5302/J.ICROS.2002.8.2.089

Control of Robot Manipulators Using PD-Sliding Mode hybrid Controller  

Lee, Kyu-Joon (Agency for Defense Development)
Kyung, Tai-Hyun (Dept.of Intelligent Mechanical Engineering, Graduate School of Busan National University)
Kim, Jong-Shik (Mechanical Technology Research Center, Dept.of Mechanical Engineering, Busan National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.8, no.2, 2002 , pp. 89-96 More about this Journal
Abstract
A new chattering free PD-sliding mode hybrid control scheme is proposed for robot manipulators. This hybrid controller is composed of a PD controller and a semi-continuous sliding mode controller. It has a good robust performance in reaching mode which does not possess invariance property of sliding mode, and has chattering free characteristics in sliding mode. Thus, the PD-sliding mode hybrid controller has a good robust performance in the whole region. It is shown that the proposed control has a good transient response and trajectory tracking performance for a 2-link SCARA robot manipulator.
Keywords
chattering free; PD-sliding mode hybrid control; reaching law; Lyapunov stability;
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