Graduate Thesis Or Dissertation
 

Sliding mode controller for robot manipulator

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https://ir.library.oregonstate.edu/concern/graduate_thesis_or_dissertations/v405sd475

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  • The sliding mode controller, based on the theory of the Variable Structure System (VSS), is considered for a robot manipulator. By consideration of VSS theory, the nonlinear interactions of manipulator dynamics are suppressed by use of linear sliding equations, and VSS robustness with respect to the unknown physical manipulator parameter variations is maintained. A simple control law was designed, using a regulated derivative control algorithm. For reduction of the chattering phenomenon, which is a main disadvantage of the VSS, a new function is introduced in lieu of original sign function in the feedback control law. Position control of a two-degree of freedom manipulator is examined for the validity of the proposed controller algorithm.
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