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http://dx.doi.org/10.9723/jksiis.2011.16.4.045

Discrete-Time Sliding Mode Control for Robot Manipulators  

Park, Jae-Sam (인천대학교 전자공학과)
Publication Information
Journal of Korea Society of Industrial Information Systems / v.16, no.4, 2011 , pp. 45-52 More about this Journal
Abstract
In the real-field of control cases for robot manipulators, there always exists a modeling error, which results the model has the uncertainties in its parameters and/or structure. In many modem applications, digital computers are extensively used to implement control algorithms to control such systems. The discretization of the nonlinear dynamic equations of such systems results in a complicated discrete dynamic equations. Therefore, it will be difficult to design a discrete-time controller to give good tracking performances in the presence of certain uncertainties. In this paper, a discrete-time sliding mode control algorithm for nonlinear and time varying robot manipulators with uncertainties is presented. Sufficient conditions for guaranteeing the convergence of the discrete-time SMC system are derived. As example simulations, the proposed SMC algorithm is applied to a two-link robotic manipulator with unknown dynamics. The results of the simulation indicate that the developed control scheme is effective in manipulators and electro-mechanical system control.
Keywords
Sliding Mode Control(SMC); Discrete-time Controller; Robot Manipulator;
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Times Cited By KSCI : 3  (Citation Analysis)
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