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A new variable structure controller for robot manipulators with a nonlinear PID sliding surface

Published online by Cambridge University Press:  31 August 2012

Khaled R. Atia
Khaled R. Atia*
Affiliation:
Mechanical Design and Production Engineering Department, Faculty of Engineering, Zagazig University, Zagazig, Egypt
*
*Corresponding author. E-mail: k_atia@hotmail.com, k_atia@zu.edu.eg
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Summary

In this paper a new sliding mode controller for set-point control of robot manipulators is proposed. The controller does not use any part of the robot dynamics in the control law. Thus, it is structurally simpler than other sliding mode controllers where the control law uses a nominal model of the robot dynamics. The controller uses a new nonlinear Proportional-Integral-Derivative (PID) sliding surface. The stability of the controlled robot dynamics is proved. On applying the boundary-layer approach to remove chattering, a nonlinear PID controller exists inside the boundary layer. This PID controller ensures that the error tend to zero asymptotically if there is no disturbances applied to the robot dynamics.

Keywords

Sliding mode controlPID controlSet-point controlRobot controlAsymptotic stability
Type
Articles
Information
Robotica , Volume 31 , Issue 4 , July 2013 , pp. 503 - 510
Copyright
Copyright © Cambridge University Press 2012 

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