An Advanced Controller for Robotic Manipulator
نویسنده
چکیده
INTERNATIONAL JOURNAL OF ENGINEERING SCIENCES & RESEARCH TECHNOLOGY An Advanced Controller for Robotic Manipulator T.Janardhan Reddy Department of Electronics and Communication Engineering, Mahatma Gandhi Institute of Technology, Hyderabad-500075, India [email protected] Abstract This paper proposes higher order sliding mode controller for robotic manipulator. The scheme is used to compensate for the influence of unmodeled dynamics and to reduce chattering. Simulation results show that the proposed controller gives better performance compared to fuzzy sliding mode control in the face of uncertain system parameters and external disturbances.
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