A Sliding Mode Control Approach to Robotic Tracking Problem
نویسندگان
چکیده
In the conventional sliding mode control, a discontinuous switching control signal is applied. It makes the system invariant to parametric uncertainty and external disturbance, but also causes actuator chattering. This paper considers a tracking control of robot manipulators using a dynamic sliding mode control, where a global invariance is achieved and the resulting control signal is chattering free. The resulting performances are illustrated by its application to the tracking problem of robot manipulators. Copyright © 2002 IFAC
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