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

被引：3

作者：

Zhu Jianwu ^{[1
]}

Zhu Dachang ^{[1
]}

Cai Jinbao ^{[2
]}

机构：

[1] Jiangxi Univ Sci & Technol, Coll Mech & Elect Control Engn, Ganzhou 341000, Jiangxi, Peoples R China

[2] Jiangxi Univ Sci & Technol, Fac Foreign Studies, Ganzhou 341000, Peoples R China

来源：

WKDD: 2009 SECOND INTERNATIONAL WORKSHOP ON KNOWLEDGE DISCOVERY AND DATA MINING, PROCEEDINGS | 2009年

关键词：

robot manipulator; low-pass filter; sliding mode control;

D O I：

10.1109/WKDD.2009.118

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

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 chaffering 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.

引用

页码：296 / +

页数：2

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