Adaptive-sliding mode trajectory control of robot manipulators with uncertainties
Joint Authors
Mustafa, Mustafa M.
Hamarash, Ibrahim Isamil
Crane, Carl D.
Source
ZANCO Journal of Pure and Applied Sciences
Issue
Vol. 32, Issue 4 (31 Aug. 2020), pp.22-29, 8 p.
Publisher
Salahaddin University-Erbil Department of Scientific Publications
Publication Date
2020-08-31
Country of Publication
Iraq
No. of Pages
8
Main Subjects
Engineering & Technology Sciences (Multidisciplinary)
Abstract EN
In this paper, we propose and demonstrate an adaptive-sliding mode control for trajectory tracking control of robot manipulators subjected to uncertain dynamics, vibration disturbance, and payload variation disturbance.
Throughout this work we seek a controller that is, robust to the uncertainty and disturbance, accurate, and implementable.
To perform these requirements, we use a nonlinear Lyapunov-based approach for designing the controller and guaranteeing its stability.
MATLAB-SIMULINK software is used to validate the approach and demonstrate the performance of the controller.
Simulation results show that the derived controller is stable, robust to the disturbance and uncertainties, accurate, and implementable.
American Psychological Association (APA)
Mustafa, Mustafa M.& Hamarash, Ibrahim Isamil& Crane, Carl D.. 2020. Adaptive-sliding mode trajectory control of robot manipulators with uncertainties. ZANCO Journal of Pure and Applied Sciences،Vol. 32, no. 4, pp.22-29.
https://search.emarefa.net/detail/BIM-1386723
Modern Language Association (MLA)
Mustafa, Mustafa M.…[et al.]. Adaptive-sliding mode trajectory control of robot manipulators with uncertainties. ZANCO Journal of Pure and Applied Sciences Vol. 32, no. 4 (2020), pp.22-29.
https://search.emarefa.net/detail/BIM-1386723
American Medical Association (AMA)
Mustafa, Mustafa M.& Hamarash, Ibrahim Isamil& Crane, Carl D.. Adaptive-sliding mode trajectory control of robot manipulators with uncertainties. ZANCO Journal of Pure and Applied Sciences. 2020. Vol. 32, no. 4, pp.22-29.
https://search.emarefa.net/detail/BIM-1386723
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 28-29
Record ID
BIM-1386723