Sliding mode controller design for flexible joint robot
Author
Source
Engineering and Technology Journal
Issue
Vol. 36, Issue 7A (31 Jul. 2018), pp.733-741, 9 p.
Publisher
Publication Date
2018-07-31
Country of Publication
Iraq
No. of Pages
9
Main Subjects
Engineering & Technology Sciences (Multidisciplinary)
Abstract EN
This paper suggests a flexible joint robot operated by brushed Direct Current (DC) motor model.
Due to complex high-order, nonlinear dynamical system which operating under parameter’s uncertainty, sliding mode control (SMC) used to solve this problem of control the flexible joint robot.
The SMC method is identified as one of the effective method to design robust control for the flexible joint robot, which based on t using a Low Pass Filter (LPF) with suitable time constant.
The mathematical model is presented clearly and the simulations together with their analysis are done using MATLAB software.
Simulation results display the efficacy of the designed robust control in stabilizing the system states and forcing the link side angle to converge to the desired value with appropriate control effort.
American Psychological Association (APA)
Gorial, Ivan I.. 2018. Sliding mode controller design for flexible joint robot. Engineering and Technology Journal،Vol. 36, no. 7A, pp.733-741.
https://search.emarefa.net/detail/BIM-834388
Modern Language Association (MLA)
Gorial, Ivan I.. Sliding mode controller design for flexible joint robot. Engineering and Technology Journal Vol. 36, no. 7A (2018), pp.733-741.
https://search.emarefa.net/detail/BIM-834388
American Medical Association (AMA)
Gorial, Ivan I.. Sliding mode controller design for flexible joint robot. Engineering and Technology Journal. 2018. Vol. 36, no. 7A, pp.733-741.
https://search.emarefa.net/detail/BIM-834388
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 740-741
Record ID
BIM-834388