Tracking Control of Robot Manipulator Using Sliding Mode Controller With Performance Robustness

[+] Author and Article Information
Chieh-Li Chen, Rui-Lin Xu

Institute of Aeronautics and Astronautics, National Cheng-Kung University, Tainan, Taiwan

J. Dyn. Sys., Meas., Control 121(1), 64-70 (Mar 01, 1999) (7 pages) doi:10.1115/1.2802443 History: Received June 01, 1997; Online December 03, 2007


The tracking control problem of robot manipulator is considered in this paper. A sliding mode controller design with global invariance is proposed using the concept of extended system and feedback linearization. The sliding surface is assigned such that the sliding mode motion will occur while the proposed control law is applied. This results in a system with global invariance. The stability and performance of the resulting system can be guaranteed by the proposed systematic design procedure.

Copyright © 1999 by The American Society of Mechanical Engineers
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