Design of Sliding Mode Controller with Low-Pass Filter for Robot Manipulators

Sliding mode control had been designed for robot manipulators at presents popularly, but the chattering is also a primary factor which infected the precise of the trace tracking of robot manipulators. This paper proposed a sliding mode control combined with a low-pass filter to deduce the influence...

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Bibliographic Details
Published in:	2009 Second International Workshop on Knowledge Discovery and Data Mining pp. 296 - 299
Main Authors:	Zhu, Jianwu, Zhu, Dachang, Cai, Jinbao
Format:	Conference Proceeding
Language:	English
Published:	IEEE 01-01-2009
Subjects:	Control systems Error correction Feedback control Frequency Low pass filters low-pass filter Manipulator dynamics MIMO robot manipulator Robots Robust control Sliding mode control
Online Access:	Get full text
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Summary:	Sliding mode control had been designed for robot manipulators at presents popularly, but the chattering is also a primary factor which infected the precise of the trace tracking of robot manipulators. This paper proposed a sliding mode control combined with a low-pass filter to deduce the influence by chattering and increase the precise of the trace tracking of robot manipulators. The stability and convergence of the designed controller are proved. The effectiveness of the proposed method is verified by simulation and experiments.
ISBN:	9780769535432 0769535437
DOI:	10.1109/WKDD.2009.118