Robust control of the robot manipulator via an improved sliding mode scheme
| dc.citation.epage | 1598 | en_US |
| dc.citation.spage | 1593 | en_US |
| 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.contributor.department | 電控工程研究所 | zh_TW |
| dc.contributor.department | Institute of Electrical and Control Engineering | 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.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.identifier.doi | 10.1109/ICMA.2007.4303787 | en_US |
| dc.identifier.isbn | 978-1-4244-0827-6 | en_US |
| dc.identifier.journal | 2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS | en_US |
| dc.identifier.uri | http://dx.doi.org/10.1109/ICMA.2007.4303787 | en_US |
| dc.identifier.uri | https://ir.lib.nycu.edu.tw/handle/11536/11235 | |
| dc.identifier.wosnumber | WOS:000251178102001 | |
| 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 |