Tracking Control of Robot Manipulator Using Sliding Mode Controller With Performance Robustness
- 1 March 1999
- journal article
- Published by ASME International in Journal of Dynamic Systems, Measurement, and Control
- Vol. 121 (1), 64-70
- https://doi.org/10.1115/1.2802443
Abstract
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.Keywords
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