Adaptive Sliding Mode Control of a 6-DOF RLED Robot Manipulator with Uncertain Parameters and External Disturbances
نویسندگان
چکیده
منابع مشابه
An Adaptive Robust Control Method for Trajectory Tracking of a 5 DOF RLED Robot Manipulator
In this paper, combined dynamic equations of motion of a rigid-link non-redundant n-DOF robot manipulator consisting of mechanical links, all with revolute joints, and electrical actuators are considered and application of an adaptive robust control algorithm is proposed for trajectory tracking of the robot manipulator. Analysis of stability of the suggested scheme is presented in details. The ...
متن کاملAdaptive Fuzzy Sliding Mode Motion Control of Robot Manipulator
This paper describes development and implementation of a decentralized continuous sliding mode motion controller for the robot manipulators. Adaptive fuzzy logic systems (FLSs), one for each robot axis, are employed to approximate almost a whole system dynamics. The structural properties of the robot dynamics are used for division of the each FLS to three simpler subsystems. This reduces the FL...
متن کاملAdaptive Control of 4-DoF Robot manipulator
In experimental robotics, researchers may face uncertainties in parameters of a robot manipulator that they are working with. This uncertainty may be caused by deviations in the manufacturing process of a manipulator, or changes applied to manipulator in the lab for sake of experiments. Another situation when dynamical and inertial parameters of a robot are uncertain arises, is the grasping of ...
متن کاملDIRECT ADAPTIVE FUZZY PI SLIDING MODE CONTROL OF SYSTEMS WITH UNKNOWN BUT BOUNDED DISTURBANCES
An asymptotically stable direct adaptive fuzzy PI sliding modecontroller is proposed for a class of nonlinear uncertain systems. In contrast toother existing approaches of handling disturbances, the proposed approachdoes not require this bound to be known, only requiring that it exists.Moreover, a PI control structure is used to attenuate chattering. The approachis applied to stabilize an open-...
متن کاملSliding Mode Control for a Robot Manipulator with Passive Joints
In this paper, we propose a sliding mode controller for a robot manipulator with passive joints. A robot manipulator with passive joints which are not equipped with any actuators is a kind of underactuated system. Underactuated systems have some advantages compared to fully-actuated ones. For example, they weigh less and consume less energy because they have smaller number of components than fu...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: International Journal of Automation and Smart Technology
سال: 2016
ISSN: 2223-9766
DOI: 10.5875/ausmt.v6i1.1026