Robust Control for a Two DOF Robot Manipulator
Joint Authors
Massaoudi, Fatma
Elleuch, Dorsaf
Damak, Tarak
Source
Journal of Electrical and Computer Engineering
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-04-17
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Information Technology and Computer Science
Abstract EN
In this paper, we present robust control techniques applied on a manipulator robot system: modified sliding mode control (MSMC) and backstepping control (BSC).
The purpose is to evaluate SMC and BSC performances, taking into account the model uncertainties.
Then, the obtained results of MSMC technique are compared with those of the adaptive sliding mode.
Both methods have comparable simulation results which show a good quality of robustness.
However, simulation results prove that the modified SMC is more robust, mostly under the effect of external variations and uncertainties.
American Psychological Association (APA)
Massaoudi, Fatma& Elleuch, Dorsaf& Damak, Tarak. 2019. Robust Control for a Two DOF Robot Manipulator. Journal of Electrical and Computer Engineering،Vol. 2019, no. 2019, pp.1-11.
https://search.emarefa.net/detail/BIM-1173712
Modern Language Association (MLA)
Massaoudi, Fatma…[et al.]. Robust Control for a Two DOF Robot Manipulator. Journal of Electrical and Computer Engineering No. 2019 (2019), pp.1-11.
https://search.emarefa.net/detail/BIM-1173712
American Medical Association (AMA)
Massaoudi, Fatma& Elleuch, Dorsaf& Damak, Tarak. Robust Control for a Two DOF Robot Manipulator. Journal of Electrical and Computer Engineering. 2019. Vol. 2019, no. 2019, pp.1-11.
https://search.emarefa.net/detail/BIM-1173712
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1173712