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An Advanced Controller for Robotic Manipulator

Journal: International Journal of Engineering Sciences & Research Technology (IJESRT) (Vol.2, No. 10)

Publication Date:

Authors : ;

Page : 2707-2712

Keywords : Fuzzy sliding mode; higher order sliding mode; robotic manipulator.;

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This paper proposes higher order sliding mode controller for robotic manipulator. The scheme is used to compensate for the influence of unmodeled dynamics and to reduce chattering. Simulation results show that the proposed controller gives better performance compared to fuzzy sliding mode control in the face of uncertain system parameters and external disturbances.

Last modified: 2014-11-12 21:08:46