Integral Nested Sliding Mode Control for Robotic Manipulators

نویسندگان

  • Luis Enrique González Jiménez
  • Alexander G. Loukianov
  • Eduardo Bayro Corrochano
چکیده

An Integral Nested Sliding Mode Control (INSMC) is proposed for n-link robotic manipulators tracking problem by employing Integral Sliding Mode (ISM) and Nested Sliding Mode (NSM) concepts. This controller has the robustness of NSM against matched and no matched perturbations, and the capability of ISM to reduce the sliding functions gains. Application to a two-link planar robot manipulator is presented as a simulation example.

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تاریخ انتشار 2008