Experimental Results of Trajectory Tracking Control of Robot Manipulator using Time Varying Sliding Mode Controller

Yasuhiko Mutoh, Nao Kogure

Abstract

The author et al. proposed the design method of the sliding mode controller for the trajectory tracking control problem of nonlinear systems. This controller consists of the conventional sliding mode control and the pole placement controller for the the linear time varying approximate model of the nonlinear system around the desired trajectory. In this paper, this controller is applied to the trajectory tracking control of the actual 2-link robot manipulator, and, experimental results are shown.

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Paper Citation


in Harvard Style

Mutoh Y. and Kogure N. (2016). Experimental Results of Trajectory Tracking Control of Robot Manipulator using Time Varying Sliding Mode Controller . In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-198-4, pages 439-446. DOI: 10.5220/0005961304390446


in Bibtex Style

@conference{icinco16,
author={Yasuhiko Mutoh and Nao Kogure},
title={Experimental Results of Trajectory Tracking Control of Robot Manipulator using Time Varying Sliding Mode Controller},
booktitle={Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2016},
pages={439-446},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005961304390446},
isbn={978-989-758-198-4},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Experimental Results of Trajectory Tracking Control of Robot Manipulator using Time Varying Sliding Mode Controller
SN - 978-989-758-198-4
AU - Mutoh Y.
AU - Kogure N.
PY - 2016
SP - 439
EP - 446
DO - 10.5220/0005961304390446