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Authors: Yasuhiko Mutoh and Nao Kogure

Affiliation: Sophia University, Japan

ISBN: 978-989-758-198-4

Keyword(s): SlidingMode Control, Time-varying Pole Placement Control, Trajectory Tracking Control, Nonlinear System, Linear Time Varying System.

Related Ontology Subjects/Areas/Topics: Adaptive Signal Processing and Control ; Engineering Applications ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Modeling, Analysis and Control of Discrete-event Systems ; Modeling, Analysis and Control of Hybrid Dynamical Systems ; Nonlinear Signals and Systems ; Robotics and Automation ; Signal Processing, Sensors, Systems Modeling and Control

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 several formats:
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

@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},
}

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

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