Design a Sliding Mode Adaptive Controller For a Two-Link Robot

سال انتشار: 1396
نوع سند: مقاله کنفرانسی
زبان: انگلیسی
مشاهده: 505

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شناسه ملی سند علمی:

ICELE02_335

تاریخ نمایه سازی: 7 اسفند 1396

چکیده مقاله:

This paper deals with sliding mode adaptive control techniques to design a control law for robotic manipulators. The performance and applicability of the proposed method is demonstrated for a two degree of freedom robot. First, a sliding mode adaptive controller is designed to govern the dynamic model of robot, then the performance of the proposed robot is demonstrated through simulation studies. This method deals with adaptive and sliding mode control of robotic manipulators for trajectory tracking

نویسندگان

Hamidreza Pourmahdian

Department of Electrical Engineering, North Tehran branch, Islamic Azad University, Tehran, Iran

Shoorangiz Shams Shamsabad Farahani

Department of Electrical Engineering, Islamshahr branch, Islamic Azad University, Islamshahr, Iran

Mohammad Ghanbarisabagh

Department of Electrical Engineering, North Tehran branch, Islamic Azad University, Tehran, Iran