Dynamic sliding mode control of robots using Legendre polynomials and voltage control strategy
Publish Year: 1397
نوع سند: مقاله کنفرانسی
زبان: English
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شناسه ملی سند علمی:
MECHAERO03_384
تاریخ نمایه سازی: 5 آبان 1397
Abstract:
In this paper, we propose a robust dynamic sliding mode control technique for robotic systems with unknown functions and external disturbances. The control law is designed using voltage control strategy (VCS). To compensate for the uncertainties and nonlinearities in the controller, an estimator using Legendre polynomials are utilized. The stability analysis guarantees that the tracking errors converge to zero. To illustrate the effectiveness of the proposed controller, numerical simulation results are given in this paper
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Authors
Mohammad Reza Shokoohinia
Department of Electrical and Robotic Engineering, Shahrood University of Technology, ۳۶۱۹۹۹۵۱۶۱ Shahrood, Iran
Mohammad Mehdi Fateh
Department of Electrical and Robotic Engineering, Shahrood University of Technology, ۳۶۱۹۹۹۵۱۶۱ Shahrood, Iran