Design of first- and second-order sliding mode control for 2-link robotic manipulator
Publish place: Fifth International Conference on Electrical and Computer Engineering with Emphasis on Indigenous Knowledge
Publish Year: 1396
نوع سند: مقاله کنفرانسی
زبان: English
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شناسه ملی سند علمی:
COMCONF05_602
تاریخ نمایه سازی: 21 اردیبهشت 1397
Abstract:
Nowadays, robotic manipulators have a lot of use in the industry and stability in tracking paths is one of the important aspects of controlling them. In this paper, the first and second order sliding mode controllers for the 2-link robotic manipulator system are presented. Sliding mode control (SMC) is considered as an effective tool in this control system. However, the relevant chattering phenomenon reduces the speed and accuracy of the system. To overcome this phenomenon and to track a desirable path, a super-twisting algorithm for the second-order sliding mode control is presented. Stability analysis is performed using a lyapunov function for the proposed controllers. In addition, the two provided controls are compared and simulation results using MATLAB software show their effects.
Authors
Elaheh Rezazadeh
Urmia University of Technology Faculty of Electrical Engineering, Urmia University of Technology, Urmia, Iran
Hadiseh Babazadeh
Urmia University of Technology Faculty of Electrical Engineering, Urmia University of Technology, Urmia, Iran