Gain adaptation in sliding mode control of robotic manipulators

نویسندگان

  • Meliksah Ertugrul
  • Okyay Kaynak
  • Feza Kerestecioglu
چکیده

In this paper, a novel scheme is proposed to adapt the gains of a sliding mode controller (SMC) so that the problems faced in its practical implementations as a motion controller are overcome. A L yapunov function is selected for the design of the SMC and an MIT rule is used for gain adaptation. The criterion that is minimized for gain adaptation is selected as the sum of the squares of the control signal and the sliding surface function. This novel approach is tested on a scara-type robot manipulator. The experimental results presented prove its e cacy.

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عنوان ژورنال:
  • Int. J. Systems Science

دوره 31  شماره 

صفحات  -

تاریخ انتشار 2000