Adaptive Synchronization Sliding Mode Control for an Uncertain Dual-Arm Robot with Unknown Control Direction
نویسندگان
چکیده
In this paper, an adaptive synchronization sliding mode control is proposed for a dual-arm robot against parameter variations, external disturbance, and unknown directions. The designed by using cross-coupling error to guarantee the position of manipulator. objective synchronize movement both arms beside trajectory tracking issue. order manage lumped uncertainties caused directions, extended state observer used in control. It enhances stability controlled system uncertainties. Additionally, Nussbaum gain function integrated into algorithm deal with issue direction. Lyapunov theory demonstrate system. Finally, some simulations are implemented MATLAB Simulink dual 3-DOF manipulator results compared other controllers verify its effectiveness.
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ژورنال
عنوان ژورنال: Applied sciences
سال: 2023
ISSN: ['2076-3417']
DOI: https://doi.org/10.3390/app13137423