Sliding mode control for robot manipulators using time-varying switching gain and boundary layer

B. W. Bekit; J. F. Whidborne; L. D. Seneviratne

doi:10.1049/cp:19980398

Sliding mode control for robot manipulators using time-varying switching gain and boundary layer

B. W. Bekit
, J. F. Whidborne
, L. D. Seneviratne

Mechanical & Nuclear Engineering

King's College London

Research output: Contribution to journal › Conference article › peer-review

4 Scopus citations

Abstract

A methodology of smoothing the control output of a sliding mode controller for robot manipulator. The method uses a time-varying switching gain and a time-varying boundary layer, which is a function of the tracking error is used to reduce the undesirable chattering while keeping the robust characteristics that reject system uncertainties. Simulation results show that the proposed controller gives a good system performance in the face of uncertain system parameters and external disturbances.

Original language	British English
Pages (from-to)	1198-1203
Number of pages	6
Journal	IEE Conference Publication
Issue number	455
DOIs	https://doi.org/10.1049/cp:19980398
State	Published - 1998
Event	Proceedings of the 1998 International Conference on Control. Part 2 (of 2) - Swansea, UK Duration: 1 Sep 1998 → 4 Sep 1998

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10.1049/cp:19980398

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title = "Sliding mode control for robot manipulators using time-varying switching gain and boundary layer",

abstract = "A methodology of smoothing the control output of a sliding mode controller for robot manipulator. The method uses a time-varying switching gain and a time-varying boundary layer, which is a function of the tracking error is used to reduce the undesirable chattering while keeping the robust characteristics that reject system uncertainties. Simulation results show that the proposed controller gives a good system performance in the face of uncertain system parameters and external disturbances.",

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year = "1998",

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journal = "IEE Conference Publication",

issn = "0537-9989",

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AU - Bekit, B. W.

AU - Whidborne, J. F.

AU - Seneviratne, L. D.

PY - 1998

Y1 - 1998

N2 - A methodology of smoothing the control output of a sliding mode controller for robot manipulator. The method uses a time-varying switching gain and a time-varying boundary layer, which is a function of the tracking error is used to reduce the undesirable chattering while keeping the robust characteristics that reject system uncertainties. Simulation results show that the proposed controller gives a good system performance in the face of uncertain system parameters and external disturbances.

AB - A methodology of smoothing the control output of a sliding mode controller for robot manipulator. The method uses a time-varying switching gain and a time-varying boundary layer, which is a function of the tracking error is used to reduce the undesirable chattering while keeping the robust characteristics that reject system uncertainties. Simulation results show that the proposed controller gives a good system performance in the face of uncertain system parameters and external disturbances.

UR - https://www.scopus.com/pages/publications/0031995149

U2 - 10.1049/cp:19980398

DO - 10.1049/cp:19980398

M3 - Conference article

AN - SCOPUS:0031995149

SN - 0537-9989

SP - 1198

EP - 1203

JO - IEE Conference Publication

JF - IEE Conference Publication

IS - 455

T2 - Proceedings of the 1998 International Conference on Control. Part 2 (of 2)

Y2 - 1 September 1998 through 4 September 1998

ER -

Sliding mode control for robot manipulators using time-varying switching gain and boundary layer

Abstract

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