@inproceedings{71664e4b06654ef593523aa478f60e70,
title = "Application of sliding mode controller with proportional integral switching gain in robot",
abstract = "Proportional control plays a role in stabilizing the system, and sliding mode variable structure control algorithm has strong robustness to external disturbances and the change of system parameters. The sliding mode controller (SMC) with proportional integral switching gain is given in order to weaken the chattering problem of sliding mode variable structure control, and the stability analysis is provided using Lyapunov stability theorem. Simulation of this approach on one joint of robot is carried out. The simulation results of this approach indicate that this approach is effective in reducing chattering and improving the robot's control accuracy and robustness.",
keywords = "Control Accuracy, PID, Robot, Robustness, Sliding Mode Controller",
author = "Xiaofei Zhang and Hongbin Ma and Nannan Li and Xinghong Zhang",
note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 2017 IEEE International Conference on Unmanned Systems, ICUS 2017 ; Conference date: 27-10-2017 Through 29-10-2017",
year = "2017",
month = jul,
day = "2",
doi = "10.1109/ICUS.2017.8278393",
language = "English",
series = "Proceedings of 2017 IEEE International Conference on Unmanned Systems, ICUS 2017",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "478--482",
editor = "Xin Xu",
booktitle = "Proceedings of 2017 IEEE International Conference on Unmanned Systems, ICUS 2017",
address = "United States",
}