Smooth sliding mode controller design for robotic arm

@article{Sinha2013SmoothSM,
  title={Smooth sliding mode controller design for robotic arm},
  author={Abhinav Sinha and Rajiv Kumar Mishra},
  journal={2013 International Conference on Control, Automation, Robotics and Embedded Systems (CARE)},
  year={2013},
  pages={1-5}
}
This paper seeks to develop simple yet efficient modelling and control scheme for robotic manipulators in joint space wherein a control law is developed based on sliding mode that provides robustness against uncertainties and perturbations and a stability analysis guarantees the asymptotic stability of origin. Given the bounds of disturbance and a switching manifold that enforces trajectory tracking, a control algorithm is presented to drive the states on the switching surface quickly and… CONTINUE READING

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