Title: A proportional-derivative-sliding mode hybrid control scheme for a robot manipulator
Abstract: A hybrid proportional-derivative-sliding mode control scheme is proposed for robot manipulators. This hybrid controller is composed of a proportional-derivative controller and a semi-continuous sliding mode controller. The hybrid controller has a robust performance in the reaching phase, which does not possess the invariance property of the sliding mode, and it has chattering-free characteristics in the sliding mode. Thus, the proportional-derivative-sliding mode hybrid controller has a robust performance in the whole control region. The controller was applied to a two-link SCARA (selective compliant articulated robot for assembly) robot manipulator. It was shown that the proposed control has a good transient response and trajectory tracking performance in the presence of model uncertainties.
Publication Year: 2004
Publication Date: 2004-12-01
Language: en
Type: article
Indexed In: ['crossref']
Access and Citation
Cited By Count: 6
AI Researcher Chatbot
Get quick answers to your questions about the article from our AI researcher chatbot