Robust control of the robot manipulator via an improved sliding mode scheme

doi:10.1109/ICMA.2007.4303787

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DC 欄位	值	語言
dc.contributor.author	Liang, Yew-Wen	en_US
dc.contributor.author	Xu, Sheng-Dong	en_US
dc.contributor.author	Chu, Tzu-Chiang	en_US
dc.date.accessioned	2014-12-08T15:14:56Z	-
dc.date.available	2014-12-08T15:14:56Z	-
dc.date.issued	2007	en_US
dc.identifier.isbn	978-1-4244-0827-6	en_US
dc.identifier.uri	http://hdl.handle.net/11536/11235	-
dc.identifier.uri	http://dx.doi.org/10.1109/ICMA.2007.4303787	en_US
dc.description.abstract	In this paper, an improved Sliding Mode Control (SMC) scheme, reformed from the conventional SMC approaches, is developed for position tracking of a robot manipulator with parameter uncertainties and external disturbances. The improved SMC scheme, which uses saturation-type SMC laws, is shown to be able to surpass the level of uniformly ultimate boundedness to achieve asymptotic stability. In addition, the presented first-order SMC laws are continuous; as a result, this scheme can also alleviate the undesirable chattering behavior that is characteristic of sign-type SMC laws. Simulation results demonstrate the benefits of the proposed scheme.	en_US
dc.language.iso	en_US	en_US
dc.subject	asymptotic stability	en_US
dc.subject	nonlinear systems	en_US
dc.subject	robot manipulator control	en_US
dc.subject	sliding mode control	en_US
dc.subject	tracking	en_US
dc.title	Robust control of the robot manipulator via an improved sliding mode scheme	en_US
dc.type	Proceedings Paper	en_US
dc.identifier.doi	10.1109/ICMA.2007.4303787	en_US
dc.identifier.journal	2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS	en_US
dc.citation.spage	1593	en_US
dc.citation.epage	1598	en_US
dc.contributor.department	電控工程研究所	zh_TW
dc.contributor.department	Institute of Electrical and Control Engineering	en_US
dc.identifier.wosnumber	WOS:000251178102001	-
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