Title: An efficient control of rigid robotic manipulator with uncertainties using higher order sliding mode control

Authors: Manjusha Bhave; S. Janardhanan; Lillie Dewan

Addresses: Department of Electrical Engineering, National Institute of Technology, Kurukshetra – 136 119, India ' Department of Electrical Engineering, Indian Institute of Technology Delhi, Hauz Khas, New Delhi – 110 016, India ' Department of Electrical Engineering, National Institute of Technology, Kurukshetra – 136 119, India

Abstract: A robotic manipulator is a highly non-linear system with uncertainties. Sliding mode control provides a method for reliable tracking for such uncertain non-linear systems. In this work, we present an algorithm based on higher order sliding mode concept for tracking and finite time error convergence for articulated robotic manipulators.

Keywords: sliding mode control; SMC; robotic manipulators; uncertainty; parameter variation; robot control; nonlinear systems; robot tracking.

DOI: 10.1504/IJMIC.2013.054322

International Journal of Modelling, Identification and Control, 2013 Vol.19 No.2, pp.179 - 185

Published online: 04 Jun 2013 *

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