Design a Sliding Mode Adaptive Controller For a Two-Link Robot
Publish place: 2nd International Conference on Electrical Engineering
Publish Year: 1396
نوع سند: مقاله کنفرانسی
زبان: English
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شناسه ملی سند علمی:
ICELE02_335
تاریخ نمایه سازی: 7 اسفند 1396
Abstract:
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
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Authors
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