Adaptive Sliding Mode Controller for Robotic Manipulator Tracking Control with Fuzzy Design
نویسندگان
چکیده
This paper introduces an adaptive sliding mode controller design based on fuzzy compensation for efficient robotic manipulator tracking control. work of Adaptive Fuzzy Controller control principles Robotic Manipulators. In the work, algorithm is proposed robot manipulators. The system uses a set rules, parameters which are modified in real-time by laws, to approximate unknown nonlinearities. makes it easier direct nonlinear system's output follow specific trajectory. An model created using Lyapunov approach. Both chattering and stable performance assured.
منابع مشابه
Hybrid Neural Sliding Mode Controller Design for Robotic Manipulator
In this paper, we will propose a cooperative control approach that is based on the hybrid grey-neural network with sliding mode control (HGNS) methodology. The main purpose is to eliminate the chattering phenomenon such that the two-link robotic manipulator has a superior tracking response. Moreover, the system performance obtained via the method of the HGNS can be improved. In the present appr...
متن کاملDesign of Adaptive Sliding Mode Controller for Robotic Manipulators Tracking Control
This paper proposes an adaptive sliding mode controller which combines adaptive control and sliding mode control to control a nonlinear robotic manipulator with uncertain parameters. We use an adaptive algorithm based on the concept of sliding mode control to alleviate the chattering phenomenon of control input. Adaptive laws are developed to obtain the gain of switching input and the boundary ...
متن کاملA revised adaptive fuzzy sliding mode controller for robotic manipulators
In this paper, we revised an adaptive fuzzy sliding mode control algorithm applied to a two-degree-of-freedom robotic manipulator. Stability of the overall system for the revised algorithm is proven in a Lyapunov sense. A discussion on the proof of Lyapunov stability for different algorithms is presented.
متن کاملNeural Network MLP with Sliding Mode Controller for Robotic Manipulator
In this paper, MLP network with sliding-mode controller and neural control is designed to the joint position control of two-link robot manipulators for periodic motion and predefined trajectory tracking control. Because the nonlinear nature robot, first the nonlinear and robust method sliding mode as a control theory for the system is chosen. Chattering phenomenon is always a problem of sliding...
متن کاملTrajectory Tracking of a 2-Link Robotic Manipulator Using Adaptive Terminal Sliding Mode Controller
This paper proposes an adaptive terminal sliding mode controller which combines adaptive control and sliding mode control to control a 2-link nonlinear robotic manipulator with uncertain parameters. We use an adaptive algorithm based on the concept of sliding mode control to alleviate the chattering phenomenon of control input. Adaptive laws are developed to obtain the gain of switching input a...
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 engineering and advanced technology
سال: 2022
ISSN: ['2249-8958']
DOI: https://doi.org/10.35940/ijeat.f3755.0811622